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A reliable and efficient multi-robot coordination strategy is proposed to accomplish area exploration task in unknown environment. This approach is an improved one based on social potential field (SPF) model and market-based (MD) approach to coordinate the movement of multiple robots. Unlike traditional SPF, our model is a non-continuous one in time. In this approach, non-continuous SPF and market-driven...
In this paper we present a layered architecture for multirobot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously. The architecture is layered, self-similar and...
Recently, a coordinated hybrid agent (CHA) framework was proposed for the control of multi-agent systems (MASs). In the past few years, it has been applied to both homogeneous and heterogeneous multi-agent systems. In previous studies, the coordination among agents were implemented based on the designerpsilas knowledge of the system. For large complex systems, it would be desirable if we can plan...
This paper presents a practical formation motion control scheme for robotic swarms based on single view depth estimation. The single view depth estimation for each robot in the swarm is performed using a single non-sophisticated camera on the agent, and the prior information about the heights of the robots and other objects in the estimation. Here, a non-sophisticated camera means one that has limited...
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