Multiagent-based multi-team formation control for mobile robots

doi:10.1007/s10846-005-2965-7

Return

Multiagent-based multi-team formation control for mobile robots

2005-04-01

PRE

Alan Liu

DOI：10.1007/s10846-005-2965-7

Original

Original request for help

Save

Abstract

En 中文

In the field of formation control, researchers generally control multiple robots in only one team, and little research focuses on multi-team formation control. In this paper, we propose an architecture, called Virtual Operator MultiAgent System (VOMAS), to perform formation control for multiple teams of mobile robots with the capabilities and advantages of scalability and autonomy. VOMAS is a hybrid architecture with two main agents. The virtual operator agent handles high level missions and team control, and the robot agent deals with low level formation control. The virtual operator uses four basic services including join, remove, split, and merge requests to perform multi-team control. A new robot can be easily added to a team by cloning a new virtual operator to control it. The robot agent uses a simple formation representation method to show formation to a large number of robots, and it uses the concept of potential field and behavior-based control to perform kinematic control to keep formation both in holonomic and nonholonomic mobile robots. In addition, we also test the stability, robustness, and uncertainty in the simulation.

Keywords:

multi-team control

formation control

holonomic and nonholonomic mobile robots

multiagent systems

mobile agent

hybrid architecture

behavior-based control

AI Summary

Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.