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2 May 2007 The effect of collision avoidance for autonomous robot team formation
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Abstract
As technology and research advance to the era of cooperative robots, many autonomous robot team algorithms have emerged. Shape formation is a common and critical task in many cooperative robot applications. While theoretical studies of robot team formation have shown success, it is unclear whether such algorithms will perform well in a real-world environment. This work examines the effect of collision avoidance schemes on an ideal circle formation algorithm, but behaves similarly if robot-to-robot communications are in place. Our findings reveal that robots with basic collision avoidance capabilities are still able to form into a circle, under most conditions. Moreover, the robot sizes, sensing ranges, and other critical physical parameters are examined to determine their effects on algorithm's performance.
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Mark H. Seidman and Shanchieh J. Yang "The effect of collision avoidance for autonomous robot team formation", Proc. SPIE 6561, Unmanned Systems Technology IX, 65610M (2 May 2007); https://doi.org/10.1117/12.718071
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