A general algorithm for robot formations using local sensing and minimal communication

By Jakob Fredslund, Maja J. Mataric. IEEE Trans. Robotics Autom., 2002

472 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Networks and Communications, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/8affa8229f3bdebd0bbb5760d194f8451699db1e

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Aerospace Engineering

In Computer Networks and Communications

In Mechanical Engineering

Citations in the corpus

Modeling Swarm Robotic Systems: a Case Study in Collaborative Distributed Manipulation (2004, background): “…Bonabeau 2000; Parker 2000; Das et al. 2002; Gerkey and Matarić 2002), flocking and navigation in formation (Matarić 1994; Kelly and Keating 1996; Fredslund and Matarić 2002), odor source localization (Hayes, Martinoli, and Goodman 2002, 2003), cooperative mapping (Billard, Ijspeert, and…”
Multi-robot formation control and object transport in dynamic environments via constrained optimization (2017, unknown): “For a template formation f ∈ I f the optimal conﬁguration z ∗ f is found by solving the nonlinear optimization We employ the nonlinear solver SNOPT by Gill et al. (2002), which internally executes a sparse Sequential Quadratic Program and converges to a feasible local minimum of the cost function.”
Region-based shape control for a swarm of robots (2009, unknown): “…Morbidi, Prattichizzo, & Tosques, 2008; Das et al., 2002; Desai, Kumar, & Ostrowski, 2001; Dimarogonas, Egerstedt, & Kyriakopoulos, 2006; Fredslund & Mataric, 2002; Ji, Ferrari-Trecate, Egerstedt, & Buffa, 2008; Ogren, Egerstedt, & Hu, 2002; Wang, 1991), the leaders are identified and…”
Development environments for autonomous mobile robots: A survey (2007, unknown): “…mapping (Howard et al., 2004), multi-robot localization (Howard et al., 2003), multi-robot planning (Howard et al., 2004), multi-robot coordination (Jones and Matarić, 2004), multi-robot formation (Fredslund and Matarić, 2002), and multi-robot task allocation (Gerkey and Matarić, 2002).”
On the controllability of nearest neighbor interconnections (2004, methodology): “More reactive, behavioral schemes were employed in [17], [18], [19], [20] to shape formations of vehicles.”
Local control strategies for groups of mobile autonomous agents (2004, background): “Other relevant recent references are [4], [5], [9], [11], [15], [21], [22].”
Swarm Formation Control Utilizing Elliptical Surfaces and Limiting Functions (2009, background): “In [34], local sensing and minimal communication between agents is used to”
Self-Organized Coordinated Motion in Groups of Physically Connected Robots (2007, background): “The figure shows that after an initial coordination phase, the robots succeed to move in the same direction while transporting the object.”