Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area

GRASP

Date of this Version

March 2003

Comments

Postprint version. Published in Multi-Robot Systems: From Swarms to Intelligent Automata, Volume II, Proceedings of the 2003 International Workshop on Multi-Robot Systems, pages 267-278.

Abstract

We address the problem of planning the motion of a team of mobile robots subject to constraints imposed by sensors and the communication network. Our goal is to develop a decentralized motion control system that leads each robot to their individual goals while keeping connectivity with the neighbors. We present experimental results with a group of car-like robots equipped with omnidirectional vision systems.

Keywords

motion control, dynamic constraints, runtime replanning

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Date Posted: 13 August 2005