Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/108165
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Type: | Conference paper |
Title: | Formation control of arbitrary shape with no communication |
Author: | Yu, H. Shi, P. Lim, C. |
Citation: | Proceedings of the World Congress on Intelligent Control and Automation, 2016, vol.2016-September, pp.356-359 |
Publisher: | IEEE |
Issue Date: | 2016 |
ISBN: | 9781467384148 |
Conference Name: | 12th World Congress on Intelligent Control and Automation (WCICA) (12 Jun 2016 - 15 Jun 2016 : Guilin, China) |
Statement of Responsibility: | Hongjun Yu, Peng Shi and Cheng-Chew Lim |
Abstract: | Formation control of a robot team is studied under the lack of communication channels. The robots are only equipped with displacement sensors of limited ranges. The robots are equally important and can access the objective formation in an arbitrary shape. In this paper, we present a protocol that has been designed to map the displacements from the sensors to those from the objective formation. With the available local mappings, each robot is driven by its controller to a partially desired local formation. The undesired conflicts among such local formations will trigger the protocol to produce re-mappings. Probability is used to avoid any infinite mapping loops. |
Rights: | © 2016 IEEE |
DOI: | 10.1109/WCICA.2016.7578386 |
Grant ID: | http://purl.org/au-research/grants/arc/DP140102180 http://purl.org/au-research/grants/arc/LP140100471 |
Published version: | http://dx.doi.org/10.1109/wcica.2016.7578386 |
Appears in Collections: | Aurora harvest 3 Electrical and Electronic Engineering publications |
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RA_hdl_108165.pdf Restricted Access | Restricted Access | 357.11 kB | Adobe PDF | View/Open |
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