Line and circle formation of distributed physical mobile robots

摘要: The formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized are able to instantaneously move any directions, and equipped with perfect range sensors. In this study, we address that subject physical constraints. Mobile considered study have dimensions their motions governed by laws. They sonar infrared lines circles is investigated detail. It demonstrated line circle algorithms developed do not work well New algorithms, consideration sensors, presented validated through extensive simulations. © 1997 John Wiley & Sons, Inc.