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Journal articles on the topic 'Formations multi-robots'

Author: Grafiati

Published: 21 June 2022

Last updated: 31 July 2025

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1

Barca, Jan Carlo, Eugene Eu-Juin Lee, and Ahmet Sekercioglu. "Flexible Morphogenesis based Formation Control for Multi-Robot Systems." IAES International Journal of Robotics and Automation (IJRA) 2, no. 1 (2013): 26. http://dx.doi.org/10.11591/ijra.v2i1.pp26-34.

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Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic groun

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Rashid, Abdulmuttalib, Abduladhem Ali, and Mattia Frasca. "Polygon Shape Formation for Multi-Mobile Robots in a Global Knowledge Environment." Iraqi Journal for Electrical and Electronic Engineering 15, no. 1 (2019): 76–88. http://dx.doi.org/10.37917/ijeee.15.1.8.

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In coordination of a group of mobile robots in a real environment, the formation is an important task. Multimobile robot formations in global knowledge environments are achieved using small robots with small hardware capabilities. To perform formation, localization, orientation, path planning and obstacle and collision avoidance should be accomplished. Finally, several static and dynamic strategies for polygon shape formation are implemented. For these formations minimizing the energy spent by the robots or the time for achieving the task, have been investigated. These strategies have better e

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Cao, Kai, Yangquan Chen, Song Gao, Hang Zhang, and Haixin Dang. "Multi-Robot Formation Control Based on CVT Algorithm and Health Optimization Management." Applied Sciences 12, no. 2 (2022): 755. http://dx.doi.org/10.3390/app12020755.

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In view of the low formation redundancy in the traditional rigid formation algorithm and its difficulty in dynamically adapting to the external environment, this study considers the use of the CVT (centroidal Voronoi tessellation) algorithm to control multiple robots to form the desired formation. This method significantly increases the complexity of the multi-robot system, its structural redundancy, and its internal carrying capacity. First, we used the CVT algorithm to complete the Voronoi division of the global map, and then changed the centroid position of the Voronoi cell by adjusting the

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Lin, Y. C., C. H. Chen, K. L. Su, and J. H. Guo. "Image Recognition Method Applying in Formation Control of Mobile Robots." Applied Mechanics and Materials 190-191 (July 2012): 693–98. http://dx.doi.org/10.4028/www.scientific.net/amm.190-191.693.

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The article develops multi-pattern formation exchange using A* searching algorithm, and programs the shortest motion paths for mobile robots. The system contains an image recognition system, a motion platform, some wireless RF modules and five mobile robots. We use Otsu algorithm to recognize the variety 2D bar code to classify variety pattern, and control five mobile robots to execute formation exchange, and present the movement scenario on the motion platform. We have been developed some pattern formations according to game applications, such as hook pattern formation, T pattern formation, L

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Long, Robert, Ross Mead, and Jerry Weinberg. "Distributed Auction-Based Initialization of Mobile Robot Formations." Proceedings of the AAAI Conference on Artificial Intelligence 24, no. 1 (2010): 1949–50. http://dx.doi.org/10.1609/aaai.v24i1.7792.

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The field of multi-robot coordination, specifically robot formation control, is rapidly expanding, with many applications proposed. In our previous work, we considered the problem of establishing and maintaining a formation of robots given an already connected network. We now propose a distributed auction-based method to autonomously initialize and reorganize the network structure of a formation of robots.

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Afdila, Ryandika, Fahmi Fahmi, and Arman Sani. "Distributed formation control for groups of mobile robots using consensus algorithm." Bulletin of Electrical Engineering and Informatics 12, no. 4 (2023): 2095–104. http://dx.doi.org/10.11591/beei.v12i4.3869.

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The increasing implementation of autonomous robots in industries and daily life demands the development of a robust control algorithm that enables robots to perform their tasks successfully. Critical tasks such as rescue missions and area exploration require robots to work cooperatively in a formation to accomplish the tasks quickly. Moreover, the existence of obstacles in the environment requires all the robots' to rapidly process environmental changes to maintain the formation pattern. Thus, this paper introduces a distributed robot formation control system using the consensus algorithm that

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Afdila, Ryandika, Fahmi Fahmi, and Arman Sani. "Distributed formation control for groups of mobile robots using consensus algorithm." Bulletin of Electrical Engineering and Informatics 12, no. 4 (2023): 2095–104. http://dx.doi.org/10.11591/eei.v12i4.3869.

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The increasing implementation of autonomous robots in industries and daily life demands the development of a robust control algorithm that enables robots to perform their tasks successfully. Critical tasks such as rescue missions and area exploration require robots to work cooperatively in a formation to accomplish the tasks quickly. Moreover, the existence of obstacles in the environment requires all the robots' to rapidly process environmental changes to maintain the formation pattern. Thus, this paper introduces a distributed robot formation control system using the consensus algorithm that

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8

Dasgupta, Prithviraj, Taylor Whipple, and Ke Cheng. "Effects of Multi-Robot Team Formations on Distributed Area Coverage." International Journal of Swarm Intelligence Research 2, no. 1 (2011): 44–69. http://dx.doi.org/10.4018/jsir.2011010103.

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This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a

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Fan, Yushuai, Xun Li, Xin Liu, Shuo Cheng, and Xiaohua Wang. "Multi-robot consensus formation based on virtual spring obstacle avoidance." Mechanical Sciences 15, no. 1 (2024): 195–207. http://dx.doi.org/10.5194/ms-15-195-2024.

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Abstract. A systematic improvement of the multi-robot formation control algorithm has been developed to address multi-robot formation instability. First, a static obstacle avoidance model based on spring force mapping is proposed, followed by an analysis of the influence of static and dynamic obstacles on the processing of multi-robot cooperative motion. Second, a leader is introduced to the formation to save computational costs. Third, the Velocity Obstacle (VO) algorithm is improved to resolve robot collisions during the dynamic mobility process caused by the increased number of multi-robot

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Kwon, Ji-Wook, Sung-Jo Yun, Hyogon Kim, et al. "Coupled-Error-Based Formation Control for Rapid Formation Completion by Omni-Directional Robots." Applied Sciences 14, no. 11 (2024): 4465. http://dx.doi.org/10.3390/app14114465.

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This paper proposes a coupled-error-based formation control algorithm for the rapid formation completion of multi-robot systems. We consider a multi-robot system with omni-directional robots with swerve-driving mechanisms and a communication system with minimized constraints. This paper introduces a coupled error that links the distance errors with the leading robot and the following robot through a coupling ratio. We propose a controller using the coupled error to achieve the control objectives of this paper. Unlike existing results that only use the information of the preceding robot, this a

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Seng, Whye Leon, Jan Carlo Barca, and Y. Ahmet Şekercioğlu. "Distributed formation control of networked mobile robots in environments with obstacles." Robotica 34, no. 6 (2014): 1403–15. http://dx.doi.org/10.1017/s0263574714002380.

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SUMMARYA distributed control mechanism for ground moving nonholonomic robots is proposed. It enables a group of mobile robots to autonomously manage formation shapes while navigating through environments with obstacles. The mechanism consists of two stages, with the first being formation control that allows basic formation shapes to be maintained without the need of any inter-robot communication. It is followed by obstacle avoidance, which is designed with maintaining the formation in mind. Every robot is capable of performing basic obstacle avoidance by itself. However, to ensure that the for

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Giron-Nieto, Huber, Eduardo Gamaliel Hernandez-Martinez, Guillermo Fernandez-Anaya, et al. "Cyber–Physical Multi-Robot Formation with a Communication Delays and a Virtual Agent Approach." Electronics 14, no. 9 (2025): 1869. https://doi.org/10.3390/electronics14091869.

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A cyber–physical multi-robot system integrates robotic agents that share data over communication networks in real time to achieve common objectives by making decisions collectively based on the knowledge of their surroundings. This work introduces a formation control strategy for two groups of mobile robots placed in two separate workspaces connected by a communication network. The control technique generates two similar formations on each workspace using virtual agents that mirror the behavior of the corresponding physical robot in the opposite workspace. Control laws are derived for a single

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Hendi, Wicaksono Agung Fransisco Jordan. "Semi-decentralized Lyapunov-based formation control of multiple omnidirectional mobile robots." Indonesian Journal of Electrical Engineering and Computer Science 35, no. 2 (2024): 823–33. https://doi.org/10.11591/ijeecs.v35.i2.pp823-833.

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This paper introduces an advanced formation control algorithm based on a Lyapunov approach for coordinating multiple omnidirectional mobile robots in collaborative object transport tasks. The semi-decentralized strategy ensures that the robots maintain a predefined geometric formation, crucial for stability during material transportation, and dynamically adapt to avoid collisions using onboard sensors. Experimental with a physical robot simulator demonstrates successful maintenance of line and triangle formations achieving an average side length maintenance of 1.00 meters with minimal deviatio

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Mañas-Álvarez, Francisco José, María Guinaldo, Raquel Dormido, and Sebastian Dormido-Canto. "Scalability of Cyber-Physical Systems with Real and Virtual Robots in ROS 2." Sensors 23, no. 13 (2023): 6073. http://dx.doi.org/10.3390/s23136073.

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Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop tools that allow control strategies evaluation of large-scale systems. In this paper, it is considered that a CPS is a heterogeneous robot multi-agent system that cooperatively performs a formation task through a wireless network. The goal of this rese

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Agung, Hendi Wicaksono, and Fransisco Jordan. "Semi-decentralized Lyapunov-based formation control of multiple omnidirectional mobile robots." Indonesian Journal of Electrical Engineering and Computer Science 35, no. 2 (2024): 823. http://dx.doi.org/10.11591/ijeecs.v35.i2.pp823-833.

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<p>This paper introduces an advanced formation control algorithm based on a Lyapunov approach for coordinating multiple omnidirectional mobile robots in collaborative object transport tasks. The semi-decentralized strategy ensures that the robots maintain a predefined geometric formation, crucial for stability during material transportation, and dynamically adapt to avoid collisions using onboard sensors. Experimental with a physical robot simulator demonstrates successful maintenance of line and triangle formations achieving an average side length maintenance of 1.00 meters with minimal

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Guo, J. Hung, Yung Chin Lin, Kuo Lan Su, and Bo Yi Li. "Motion Planning of Multiple Pattern Formation for Mobile Robots." Applied Mechanics and Materials 284-287 (January 2013): 1877–82. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.1877.

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The article designs the multiple pattern formation controls of the multi-robot system according to two arms’ gesture of the player, and uses flood fill searching algorithm and A* searching algorithm to program the motion paths. The inertia module detects two arms’ gesture of the player. We use the inertia module to be embedded in the two arms, and use mobile robots to present the movement scenario of pattern formation exchange on the grid based motion platform. We have been developed some pattern formations applying in the war game, such as rectangle pattern formation, long snake pattern forma

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Zhuang, Hongchao, Kailun Dong, Ning Wang, and Lei Dong. "Multi-Robot Leader Grouping Consistent Formation Control Method Research with Low Convergence Time Based on Nonholonomic Constraints." Applied Sciences 12, no. 5 (2022): 2300. http://dx.doi.org/10.3390/app12052300.

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Aiming at the formation and maintenance of the multiple formations of nonholonomic constrained multi-robots, a leader-follower formation control method under the grouping consistency is proposed on the trajectory tracking of a nonholonomic constrained mobile robots with the low convergence time. The distributed control structure in the leader-follower formation is adopted. The multi-robot cooperative formation is realized by using the consistency algorithm of graph theory. According to the graph theory, the communication topology matrixes are designed by the consistency algorithm. The mathemat

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18

Kuppan Chetty, R. M., M. Singaperumal, and T. Nagarajan. "Behavior Based Multi Robot Formations with Active Obstacle Avoidance Based on Switching Control Strategy." Advanced Materials Research 433-440 (January 2012): 6630–35. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.6630.

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This paper considers the problem of formation control and obstacle avoidance for a group of non-holonomic mobile robots in a leader referenced model based on reactive switching control strategy. Three important issues related to the multi robot formation namely distributed formation control framework, dynamic role switching algorithm and real time implementations are investigated. The switching control strategy combines together formation planning, navigation and active obstacle avoidance in a layered control framework composed of functional behaviors based on the relative motion states of the

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Islami, Anggun, Siti Nurmaini, and Hadipurnawan Satria. "Comparative Analysis Multi-Robot Formation Control Modeling Using Fuzzy Logic Type 2 – Particle Swarm Optimization." Computer Engineering and Applications Journal 11, no. 3 (2022): 167–76. http://dx.doi.org/10.18495/comengapp.v11i3.413.

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Multi-robot is a robotic system consisting of several robots that are interconnected and can communicate and collaborate with each other to complete a goal. With physical similarities, they have two controlled wheels and one free wheel that moves at the same speed. In this Problem, there is a main problem remaining in controlling the movement of the multi robot formation in searching the target. It occurs because the robots have to create dynamic geometric shapes towards the target. In its movement, it requires a control system in order to move the position as desired. For multi-robot movement

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De La Cruz, Celso, and Ricardo Carelli. "Dynamic model based formation control and obstacle avoidance of multi-robot systems." Robotica 26, no. 3 (2008): 345–56. http://dx.doi.org/10.1017/s0263574707004092.

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SUMMARYThis work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a

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Shafiq, Muhammad, Samar Raza Talpur, Fareed Jafri, M. Kamran Joyo, and Umme Laila. "Implementing Ant Colony Optimization for Multi-Robot Coordination in Unmanned Ground Robots." Sir Syed University Research Journal of Engineering & Technology 14, no. 2 (2024): 108–13. https://doi.org/10.33317/ssurj.659.

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Single robots are not enough for multi-objective tasks especially where the task variate and we need complex computations for desired results. Therefore, multiple ground robot coordination is widely used in various domains such as warehouse operations, precision agriculture, surveillance, mapping, and healthcare, etc. The coordination of multiple robots in a complex environment can be made easy with the use of suitable optimization algorithms such as Ant Colony Optimization. However, in this research, multiple ground robot formations using Master-Slave coordination have been presented for shor

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TIAN, WEN-QIANG, DAN GAO, and YING-GUAN WANG. "SELF-ORGANIZED COLLECTIVE CRYSTAL-LIKE FORMATIONS OF THE ATTRACTIVE/REPULSIVE SWARMING SYSTEM." Modern Physics Letters B 28, no. 01 (2013): 1450003. http://dx.doi.org/10.1142/s0217984914500031.

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In this paper, an adaptive attractive/repulsive (A/R) swarming model is proposed to explore the role of self-organized formation in swarming systems. By defining the adjustable A/R range γi, which is affected by the localized steady state of agents, the standard collective crystal-like swarming formations are straightforwardly unfolded in different scale. Meanwhile, with numerical simulations and analyses, the results show that the adaptive A/R swarming model provides an effective solution to the current existing dilemma of the collective liquid-like formation with unexpected neighbor distance

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Hou, Xihuan, Huiming Xing, Shuxiang Guo, Huimin Shi, and Na Yuan. "Design and Implementation of a Model Predictive Formation Tracking Control System for Underwater Multiple Small Spherical Robots." Applied Sciences 14, no. 1 (2023): 294. http://dx.doi.org/10.3390/app14010294.

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Due to the characteristics of good concealment ability and strong mobility, multiple, small spherical underwater robot formations play an important role in near coast defense missions, such as cruising, reconnaissance, surveillance, and sensitive target capturing. Referring to the formation problem for underwater small spherical robots with limited energy, perception, and computation abilities, a trajectory tracking-based formation strategy that transforms the complex formation tracking problem into a simple trajectory tracking problem of a single robot is provided. Two layers are designed in

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Matsunaga, Nobutomo, Kazuhi Murata, and Hiroshi Okajima. "Robust Cooperative Transport System with Model Error Compensator Using Multiple Robots with Suction Cups." Journal of Robotics and Mechatronics 35, no. 6 (2023): 1583–92. http://dx.doi.org/10.20965/jrm.2023.p1583.

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In cooperative transport systems, multiple robots work together to transport objects that are difficult to transport with a single robot. In recent years, multi-robot systems that cooperate to transport objects have been researched. However, during the transfer of objects, misalignment occurs between the ideal and actual grasp positions. In an automatic transport system, a grasping error can cause an error in the trajectory of the object, significantly reducing the transport efficiency. In this paper, a control system that allows robust cooperative transport control using a model error compens

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Shenoy, Meetha V., and K. R. Anupama. "DTTA - Distributed, Time-division Multiple Access based Task Allocation Framework for Swarm Robots." Defence Science Journal 67, no. 3 (2017): 316. http://dx.doi.org/10.14429/dsj.67.10955.

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Swarm robotic systems, unlike traditional multi-robotic systems, deploy number of cost effective robots which can co-operate, aggregate to form patterns/formations and accomplish missions beyond the capabilities of individual robot. In the event of fire, mine collapse or disasters like earthquake, swarm of robots can enter the area, conduct rescue operations, collect images and convey locations of interest to the rescue team and enable them to plan their approach in advance. Task allocation among members of the swarm is a critical and challenging problem to be addressed. DTTA- a distributed, T

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Yang, Yuan-Rui, Qiyu Kang, and Rui She. "The Effective Coverage of Homogeneous Teams with Radial Attenuation Models." Sensors 23, no. 1 (2022): 350. http://dx.doi.org/10.3390/s23010350.

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For the area coverage (e.g., using a WSN), despite the comprehensive research works on full-plane coverage using a multi-node team equipped with the ideal constant model, only very few works have discussed the coverage of practical models with varying intensity. This paper analyzes the properties of the effective coverage of multi-node teams consisting of a given numbers of nodes. Each node is equipped with a radial attenuation disk model as its individual model of coverage, which conforms to the natural characteristics of devices in the real world. Based on our previous analysis of 2-node tea

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Mutzari, Dolev, Yonatan Aumann, and Sarit Kraus. "Heterogeneous Multi-Robot Graph Coverage with Proximity and Movement Constraints." Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 14 (2025): 14646–54. https://doi.org/10.1609/aaai.v39i14.33605.

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Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the agents, or a blue agent must be adjacent to a red agent) and the movement (e.g., terrain traversability and material load capacity) of the robots. Such constraints naturally arise in many real-world applications, e.g. in search-and-rescue and maintenance operations. Given such a setting, the goal is to compute a covering tour of the graph with a minimum number of

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Vanualailai, Jito. "Stable emergent formations for a swarm of autonomous car-like vehicles." International Journal of Advanced Robotic Systems 16, no. 5 (2019): 172988141984978. http://dx.doi.org/10.1177/1729881419849780.

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A biological swarm is an ideal multi-agent system that collectively self-organizes into bounded, if not stable, formations. A mathematical model, developed appropriately from some principle of swarming, should enable one, therefore, to study formation strategies for multiple autonomous robots. In this article, based on the hypothesis that swarming is an interplay between long-range attraction and short-range repulsion between the individuals in the swarm, a planar individual-based or Lagrangian swarm model is constructed using the Direct Method of Lyapunov. While attraction ensures the swarm i

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Salehizadeh, Mohammad, and Eric Diller. "Three-dimensional independent control of multiple magnetic microrobots via inter-agent forces." International Journal of Robotics Research 39, no. 12 (2020): 1377–96. http://dx.doi.org/10.1177/0278364920933655.

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This article presents a method to independently control the position of multiple microscale magnetic robots in three dimensions, operating in close proximity to each other. Having multiple magnetic microrobots work together in close proximity is difficult due to magnetic interactions between the robots, and here we aim to control those interactions for the creation of desired multi-agent formations in three dimensions. Based on the fact that all magnetic agents orient to the global input magnetic field, the local attraction–repulsion forces between nearby agents can be regulated. For the first

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M. Mohammed Thaha, Et al. "An Aerial Robotics Investigation into the Stability, Coordination, and Movement of Strategies for Directing Swarm and Formation of Autonomous MAVs and Diverse Groups of Driverless Vehicles (UGVs)." International Journal on Recent and Innovation Trends in Computing and Communication 11, no. 3 (2023): 301–4. http://dx.doi.org/10.17762/ijritcc.v11i3.8908.

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This study will discuss the matter of movement communication and preparation of tight configurations of land & flying robots. Remotely Operated Cars (UGVs) and Unmanned Aerial Vehicles (UAVs), in specific Micro Aerial Vehicles (MAVs), would be used to fix circumstances where a creation of UGVs and UAVs, in specific Micro Aerial Vehicles (MAVs), should counteract their velocity and direction to finish a mission of traffic sequence to a targeted area. The motion planning and stabilisation strategy given here is a useful tool for deploying closely collaborating robot teams including both outd

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Eu, Kok Seng, Kian Meng Yap, and Tiam Hee Tee. "Supporting Odour Source Localisation of Multi-Sniffer Robots with up-Wind Formation Repeater Network Topology." Journal of Advances in Computer Networks 3, no. 1 (2015): 24–27. http://dx.doi.org/10.7763/jacn.2015.v3.136.

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Cai, Yun Fei, Zhen Min Tang, and Chun Xia Zhao. "Multi-EKF Localization Algorithm for Multi-Robots Formation Navigation." Advanced Materials Research 383-390 (November 2011): 5648–55. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.5648.

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This research presents a dynamic multi-robots formation navigation algorithm named multi-EKF localization algorithm, which derived from single EKF. In this algorithm, all formation members are treated as landmarks with known association. When the formation is running, the traditional EKF is used for individual robot to get its own localization, and the proposed multi-EKF is used to get the position of the whole formation. By calculating the joint probability distribution, the mean and covariance of the formation position are achieved, which is used to guide and constrain the individual robot l

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Gao, Xi Na, and Li Juan Wu. "Multi-Robot Formation Control Based on the Artificial Potential Field Method." Applied Mechanics and Materials 519-520 (February 2014): 1360–63. http://dx.doi.org/10.4028/www.scientific.net/amm.519-520.1360.

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The artificial potential field method is one of multi-robot formation control methods. In this paper we make a study on multi-robot formation control based on the artificial potential field method and the leader-follower method. The robots are set leader robot and follower robots respectively. According to the known ideal distance between the leader and follower, we adjust the repulsiveness or attractiveness to maintain multi-robot formation. Multi-robots obstacle avoidance is adopted the artificial potential field method. In this paper the triangle formation is taken as an example. At last th

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Mao, Wenju, Zhijie Liu, Heng Liu, Fuzeng Yang, and Meirong Wang. "Research Progress on Synergistic Technologies of Agricultural Multi-Robots." Applied Sciences 11, no. 4 (2021): 1448. http://dx.doi.org/10.3390/app11041448.

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Multi-robots have shown good application prospects in agricultural production. Studying the synergistic technologies of agricultural multi-robots can not only improve the efficiency of the overall robot system and meet the needs of precision farming but also solve the problems of decreasing effective labor supply and increasing labor costs in agriculture. Therefore, starting from the point of view of an agricultural multiple robot system architectures, this paper reviews the representative research results of five synergistic technologies of agricultural multi-robots in recent years, namely, e

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Cao, Kai, Yangquan Chen, Song Gao, Haixin Dang, and Di An. "Distributed Weighted Coverage for Multi-Robot Systems in Non-Convex Environment." Applied Sciences 13, no. 14 (2023): 8530. http://dx.doi.org/10.3390/app13148530.

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Multi-robot coverage systems are widely used in operations such as environmental monitoring, disaster rescue, and pollution prevention. This study considers inherent positioning errors in positioning systems and ground mobile robots with limited communication distance and poor quality in practice. A centroidal Voronoi tessellation algorithm-based formation control technology for multi-robots is optimized. First, by constructing buffered Voronoi cells (BUVCs) for each robot, the collision avoidance ability of the multi-robot formation movement is improved. Next, the formation control problem of

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Wee, Sung-Gil, Yanyan Dai, Tae Hun Kang, and Suk-Gyu Lee. "Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot." Advances in Mechanical Engineering 11, no. 6 (2019): 168781401985733. http://dx.doi.org/10.1177/1687814019857339.

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This article describes a novel multi-robot formation control based on a switching technique that allows follower robots to maintain formation when the leader robot’s direction changes rapidly or unexpectedly. The formation pattern is determined using Virtual Robot’s Center of the multi-robot formation. To avoid collision, the formation of robots reformed in optimal size by estimating the distance between the robot and an obstacle in real time. When the leader robot suddenly changes its direction, waypoints of follower robots are switched and the formation is quickly reconstructed. This prevent

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Hernandez-Barragan, Jesus, Tonatiuh Hernandez, Jorge D. Rios, Marco Perez-Cisneros, and Alma Y. Alanis. "Edge-Weighted Consensus-Based Formation Control with Collision Avoidance for Mobile Robots Based on Multi-Strategy Mutation Differential Evolution." Mathematics 11, no. 17 (2023): 3633. http://dx.doi.org/10.3390/math11173633.

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An edge-weighted consensus-based formation control strategy is presented for mobile robots. In the edge-weighted strategy, a desired formation pattern is achieved by adjusting gain weights related to the distance between robots. Moreover, the edge-weighted formation control exploits the properties of weighted graphs to allow the formation to rotate and adapt its shape to avoid collision among robots. However, formation patterns are commonly defined by biases with respect to the centroid of the consensus rather than gain weights. This work proposes to optimize the gain weights in edge-weighted

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Chen, Wenzhou, Shizheng Zhou, Zaisheng Pan, Huixian Zheng, and Yong Liu. "Mapless Collaborative Navigation for a Multi-Robot System Based on the Deep Reinforcement Learning." Applied Sciences 9, no. 20 (2019): 4198. http://dx.doi.org/10.3390/app9204198.

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Compared with the single robot system, a multi-robot system has higher efficiency and fault tolerance. The multi-robot system has great potential in some application scenarios, such as the robot search, rescue and escort tasks, and so on. Deep reinforcement learning provides a potential framework for multi-robot formation and collaborative navigation. This paper mainly studies the collaborative formation and navigation of multi-robots by using the deep reinforcement learning algorithm. The proposed method improves the classical Deep Deterministic Policy Gradient (DDPG) to address the single ro

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HSU, HARRY CHIA-HUNG, and ALAN LIU. "APPLYING A TAXONOMY OF FORMATION CONTROL IN DEVELOPING A ROBOTIC SYSTEM." International Journal on Artificial Intelligence Tools 16, no. 04 (2007): 565–82. http://dx.doi.org/10.1142/s0218213007003436.

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Designing cooperative multi-robot systems (MRS) requires expert knowledge both in control and artificial intelligence. Formation control is an important research within the research field of MRS. Since many researchers use different ways in approaching formation control, we try to give a taxonomy in order to help researchers design formation systems in a systematical way. We can analyze formation structures in two categories: control abstraction and robot distinguishability. The control abstraction can be divided into three layers: formation shape, reference type, and robotic control. Furtherm

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Baasandorj, Bayanjargal, Aamir Reyaz, Batmunkh Battulga, Deok Jin Lee, and Kil To Chong. "Formation of Multiple-Robots Using Vision Based Approach." Applied Mechanics and Materials 419 (October 2013): 768–73. http://dx.doi.org/10.4028/www.scientific.net/amm.419.768.

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Multi-robots system has grown enormously with a large variety of topics being addressed. It is an important research area within the robotics and artificial intelligence. By using the vision based approach this paper deals with the formation of multiple-robots. Three NXT robots were used in the experiment and all the three robots work together as one virtual mobile robot. In addition to these things we also used TCP/IP socket, ArToolKit, NXT robot, Bluetooth communication device. And for programming C++ was used. Results achieved from the experiment were highly successful.

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Falconi, Riccardo, Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi, and Claudio Melchiorri. "Edge-weighted consensus-based formation control strategy with collision avoidance." Robotica 33, no. 2 (2014): 332–47. http://dx.doi.org/10.1017/s0263574714000368.

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SUMMARYIn this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real r

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TAKASHIMA, Koichi, Yuichi TAZAKI, and Tatsuya SUZUKI. "2A1-W06 Formation Control Considering Uncertainty of Positions of Multi Mobile Robots(Cooperation Control of Multi Robots)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _2A1—W06_1—_2A1—W06_4. http://dx.doi.org/10.1299/jsmermd.2014._2a1-w06_1.

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Budiyanto, Almira, Keisuke Azetsu, and Nobutomo Matsunaga. "Accelerated Transfer Learning for Cooperative Transportation Formation Change via SDPA-MAPPO (Scaled Dot Product Attention-Multi-Agent Proximal Policy Optimization)." Automation 5, no. 4 (2024): 597–612. http://dx.doi.org/10.3390/automation5040034.

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A method for cooperative transportation, which required formation change in a traveling environment, is gaining interest. Deep reinforcement learning is used in formation changes for multi-robot cases. The MADDPG (Multi-Agent Deep Deterministic Policy Gradient) method is popularly used for recognized environments. On the other hand, re-learning may be required in unrecognized circumstances by using the MADDPG method. Although the development of MADDPG using model-based learning and imitation learning has been applied to reduce learning time, it is unclear how the learning results are transferr

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Zhao, Dewei, Sheng Zhang, Faming Shao, et al. "Path Planning for the Rapid Reconfiguration of a Multi-Robot Formation Using an Integrated Algorithm." Electronics 12, no. 16 (2023): 3483. http://dx.doi.org/10.3390/electronics12163483.

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Path planning is crucial in the scheduling and motion planning of multiple robots. However, solving multi-robot path-planning problems efficiently and quickly is challenging due to their high complexity and long computational time, especially when dealing with many robots. This paper presents a unified mathematical model and algorithm for the path planning of multiple robots moving from one formation to another in an area with obstacles. The problem was initially simplified by constructing a cost matrix, and then the route planning was achieved by integrating an elite enhanced multi-population

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ZHANG, Han-dong, Li HUANG, and Yu-wan CEN. "Improved approach of hybrid formation for multi-mobile robots." Journal of Computer Applications 32, no. 6 (2013): 1955–57. http://dx.doi.org/10.3724/sp.j.1087.2012.01955.

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Hsu, Harry Chia-Hung, and Alan Liu. "Multiagent-Based Multi-team Formation Control for Mobile Robots." Journal of Intelligent and Robotic Systems 42, no. 4 (2005): 337–60. http://dx.doi.org/10.1007/s10846-005-2965-7.

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Dong, Youwei, and Ahmed Rahmani. "FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP." Acta Polytechnica 56, no. 1 (2016): 1. http://dx.doi.org/10.14311/app.2016.56.0001.

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In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results.

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Chen, Yu-Ting, Chian-Song Chiu, and Ya-Ting Lee. "Grey Estimator-Based Tracking Controller Applied to Swarm Robot Formation." Axioms 10, no. 4 (2021): 298. http://dx.doi.org/10.3390/axioms10040298.

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Mobile robots are widely used in many applications, while various types of mobile robots and their control researches have been proposed in literature. Since swarm robots have higher flexibility and capacity for teamwork, this paper presents a grey estimator-based tracking controller for formation trajectory tracking of swarm robots. First, wheel-type mobile robots are used and modeled for the controller design. Then, a grey dynamic estimator is developed to estimate the environmental disturbance and model uncertainty for linear feedback compensation. As a result, the asymptotic trajectory tra

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Yu, Yue, Xiangru Chen, Zhaohan Lu, Fengxia Li, and Bo Zhang. "Obstacle avoidance behavior of swarm robots based on aggregation and disaggregation method." SIMULATION 93, no. 11 (2017): 885–98. http://dx.doi.org/10.1177/0037549717711281.

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One of the current challenges in the development of swarm robots is making them realize obstacle avoidance while keeping formation. This paper proposes a new obstacle avoidance method for multiple robots based on the aggregation and disaggregation approach. First, the formation-based multi-resolution models of swarm robots are presented and the formation attribute-based consistency mapping functions are designed. Then, obstacle avoidance behavior based on aggregation and disaggregation method is presented and the basic obstacle avoidance behaviors are designed. Finally, the simulation results

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Wang, Jiaojiao, Yueji Wang, Yongdeok Kim, Tianqi Yu, and Rashid Bashir. "Multi-actuator light-controlled biological robots." APL Bioengineering 6, no. 3 (2022): 036103. http://dx.doi.org/10.1063/5.0091507.

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Biohybrid robots, composed of cellular actuators and synthetic scaffolds, have garnered much attention in recent years owing to the advantages provided by their biological components. In recent years, various forms of biohybrid robots have been developed that are capable of life-like movements, such as walking, swimming, and gripping. Specifically, for walking or crawling biorobots, there is a need for complex functionality and versatile and robust fabrication processes. Here, we designed and fabricated multi-actuator biohybrid walkers with multi-directional walking capabilities in response to

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