A distributed controller for roaming robot formations using local sensing and limited range communications
El-Sayed Mostafa Saad, Medhat H A Awadalla, Alaa Mahmoud Hamdy, Hasimah Ali · Computational intelligence · 2008
This paper focuses on the development of wandering robot formations and shows the cooperation and coordination among the robot teammates to maintain the achieved formation regardless the complexity of the environment. To address these issues, this paper proposes a new behavior based robot architecture. This architecture is based on a novel technique for location determination using local sensing. The proposed architecture is implemented using the well known robot simulator Webots. Experiments for many difficult tasks such as the passage through narrow corridors, obstacle avoidance, swerving with large angles, have been conducted. The obtained results show that the constructed formations are more stable and accurate even in cluttered and uncluttered environments.