Flocking for multi-robot systems via the Null-Space-based Behavioral control
作者： Gianluca Antonelli , Filippo Arrichiello , Stefano Chiaverini
DOI: 10.1109/IROS.2008.4650626
关键词:
摘要: In this paper the flocking problem for a multi-robot system, consisting in making robots of team grouping together, is addressed. The achieved resorting to Null-Space-based Behavioral (NSB) control by defining very simple behaviors each robot and properly arranging these priority. NSB algorithm, using only local information, successfully achieves with or without rendez-vous point eventual presence obstacles. Extensive simulations experiments differential-drive mobile prove effectiveness proposed algorithm.
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