Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

December 2002


Copyright 2002 IEEE. Reprinted from 41st IEEE Conference on Decision and Control, 2002 (CDC 2002) Volume 3, pages 2978-2983.
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We consider a team of mobile robots equipped with sensors and wireless network cards and the task of navigating to a desired location in a formation. We develop a set of algorithms for (a) discovery; (b) cooperative localization; and (c) cooperative control. Discovery involves the use of sensory information to organize the robots into a mobile network allowing each robot to establish its neighbors and, when necessary, one or more leaders. Cooperative control is the task of achieving a desired goal position and orientation and desired formation shape and maintaining it. Cooperative localization allows each robot to estimate its relative position and orientation with respect to its neighbors and hence the formation shape. We show numerical results and simulations for a team of nonholonomic, wheeled robots with omnidirectional cameras sharing a wireless communication network.


ad hoc networks, directed graphs, mobile radio, mobile robots, multi-robot systems, path planning, position control, robot kinematics, cooperative control, cooperative localization, discovery, formation shape, mobile network, mobile robot team, nonholonomic wheeled robots, omnidirectional cameras, relative orientation, relative position, sensory information, wireless communication network



Date Posted: 19 November 2004

This document has been peer reviewed.