Implementation of Formation Transition System using Synchronization in a Mobile Robot Group

Takaaki Shimone 1 Daisuke Kurabayashi 2 Kunio Okita 3 Tetsuro Funato 2
1 Kansai Electric Power
2 TITECH - Tokyo Institute of Technology [Tokyo]
3 Ricoh
Abstract : This study proposes an algorithm for the passage of a mobile robot group through a narrow space. We deal with a robot group composed of one leader and multiple unlabeled followers. A steady formation is realized by generating a Delaunay diagram using the profiles of surrounding robots. Further, we resolved a deadlock situation by using the phase gap of nonlinear oscillators to which the profiles of the surrounding obstacles are provided as inputs.We implement the proposed system in a real multi-robot system in order to demonstrate its effectiveness.
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Communication dans un congrès
6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics
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Takaaki Shimone, Daisuke Kurabayashi, Kunio Okita, Tetsuro Funato. Implementation of Formation Transition System using Synchronization in a Mobile Robot Group. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics. 〈inria-00258747〉

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