publication . Article . 1997

Line and circle formation of distributed physical mobile robots

Xiaoping Yun; Gokhan Alptekin; Okay Albayrak;
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  • Published: 01 Jan 1997 Journal: Journal of Robotic Systems, volume 14, pages 63-76 (issn: 0741-2223, eissn: 1097-4563, Copyright policy)
  • Publisher: Wiley
Abstract
The formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized robots are able to instantaneously move in any directions, and are equipped with perfect range sensors. In this study, we address the formation problem of distributed mobile robots that are subject to physical constraints. Mobile robots considered in this study have physical dimensions and their motions are governed by physical laws. They are equipped with sonar and infrared range sensors. The formation of lines and circles is investigated in detail. It is demonstrated that line and circle algorithms developed for idealized robots do not work well for...
Subjects
arXiv: Computer Science::Robotics
free text keywords: Control and Systems Engineering, Control engineering, Engineering, business.industry, business, Sonar, Physical law, Mobile robot, Robot control, Robot
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publication . Article . 1997

Line and circle formation of distributed physical mobile robots

Xiaoping Yun; Gokhan Alptekin; Okay Albayrak;