TY - GEN
T1 - Adaptive formation behaviors of multi-robot for cooperative exploration
AU - Yasuda, Yutaka
AU - Kubota, Naoyuki
AU - Toda, Yuichiro
PY - 2012/10/23
Y1 - 2012/10/23
N2 - This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we discuss multi-robot behaviors based on the concept of coupling. The tight coupling is realized by the spring model while the loose coupling is realized by the individual decision making based on connection and disconnection with other robots. Furthermore, the proposed method is applied to the exploration in unknown environments. Finally, we discuss the effectiveness of the proposed method through several simulation results.
AB - This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we discuss multi-robot behaviors based on the concept of coupling. The tight coupling is realized by the spring model while the loose coupling is realized by the individual decision making based on connection and disconnection with other robots. Furthermore, the proposed method is applied to the exploration in unknown environments. Finally, we discuss the effectiveness of the proposed method through several simulation results.
KW - exploration
KW - formation
KW - fuzzy control
KW - monitoring
KW - multi-agent system
UR - http://www.scopus.com/inward/record.url?scp=84867609279&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867609279&partnerID=8YFLogxK
U2 - 10.1109/FUZZ-IEEE.2012.6251150
DO - 10.1109/FUZZ-IEEE.2012.6251150
M3 - Conference contribution
AN - SCOPUS:84867609279
SN - 9781467315067
T3 - IEEE International Conference on Fuzzy Systems
BT - 2012 IEEE International Conference on Fuzzy Systems, FUZZ 2012
T2 - 2012 IEEE International Conference on Fuzzy Systems, FUZZ 2012
Y2 - 10 June 2012 through 15 June 2012
ER -