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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
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
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Appears in Collections:Aurora harvest 3
Electrical and Electronic Engineering publications

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