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. © 2008 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Shimone, T., Kurabayashi, D., Okita, K., & Funato, T. (2008). Implementation of formation transition system using synchronization in a mobile robot group. In Springer Tracts in Advanced Robotics (Vol. 42, pp. 423–432). https://doi.org/10.1007/978-3-540-75404-6_40
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