Description

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.

Date of creation, presentation, or exhibit

4-12-2007

Comments

Proceedings of SPIE Defense and Security Symposium, Unmanned Systems Technology IX Conference, vol. 6561, Orlando, Florida, April 9-12, 2007 Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works in February 2014.

Document Type

Conference Proceeding

Department, Program, or Center

Computer Engineering (KGCOE)

Campus

RIT – Main Campus

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