A formation method for heterogeneous multiple robots by specifying the relative position of each robot

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages3274-3277
Number of pages4
ISBN (Print)9784907764364
Publication statusPublished - Jan 1 2010

Publication series

NameProceedings of the SICE Annual Conference

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).