Abstract
In this paper, we propose a formation method that can specify the position of each robot in a group. The robots are assumed to be heterogeneous and identified. Also assume that a formation is composed of some equilateral triangles. The method is verified through some simulations. When applying the method to a real robot system, it needs to obtain IDs and relative positions of the robots. We further propose the measurement system using wireless communication and ultrasonic sound. Such a system is evaluated in the estimation accuracy of relative positions through some experiments in a simulated environment.
| Original language | English |
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| Title of host publication | Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers |
| Publisher | Society of Instrument and Control Engineers (SICE) |
| Pages | 3274-3277 |
| Number of pages | 4 |
| ISBN (Print) | 9784907764364 |
| Publication status | Published - Jan 1 2010 |
Publication series
| Name | Proceedings of the SICE Annual Conference |
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Keywords
- Heterogeneous robots
- Multi-robot systems
- Robot formation
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
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Cite this
Kato, T., Watanabe, K., & Maeyama, S. (2010). A formation method for heterogeneous multiple robots by specifying the relative position of each robot. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 3274-3277). [5602614] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).