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Rigid formation of Multi-robot system has been studied in many papers. But the fixed shape is not suitable in many cases. We believe the goal of formation is to accomplish a given task better. So whether the shape is rigid or precise is not the most important thing in many cases. Here the concept of flexible formation is given. Such formation is virtual and the shape is varying. It could adapt to...
A unified formation control policy is presented. From the trajectory and shape aspects, the group formation control problem is decoupled into the desired trajectory tracking problem of each individual, and the consistency of stability and optimality between these two problems are proved. The overall criterion and decomposed criterions to evaluate the formation performance are designed. The decomposed...
In multi-robot system, not only cooperation but also competition exists. Competition may help to improve the efficiency of the system, while on the same time it will cause conflict. How to avoid conflict is an important problem for improving the performance of the multi-robot system. In this paper, we propose that personality is also a key character of a robot, and the different personalities can...
To enable the multi-robot system allocating tasks automatically is very important in improving the adaptation of the system. In this paper, a task allocation method based on personality is designed and a persistent factor, as one aspect of personality of the robot is introduced; the pheromone follow phenomenon of the ant algorithm is used to realize cooperation. Box pushing problem is used to test...
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