Precise Formation ofMulti-Robot Systems
Christopher M. Gifford · 2007
There areseveral applications whichrequireaccompanied byabrief discussion oncollision risk ofthe high-precision placement of sensorsor objects. multi-robot system. TheWebots(1)timestep-based robot Unstructured, remote environments makethis problemsimulation software package wasusedasthetesting evenmorecomplex, wherehigh precision isnotattainable environment, incorporating physics forrealistic movement. using conventional sensors. Someapplications haveunits sosparsely spaced that fewoptions remain. A teamof 2 Background mobile robots canbeintegrated intosuchmissions, providing ahigher level ofprecision while also removing Depending ondesired spacing between theobjects, a thehumanfootprint. This paper presents ahigh-precision, fewdifferent onboard sensors andtechniques canprovide shape-based gridformation schemeformulti-robot highprecision. Sonararrays arenotfeasible ashigh systems that canbeusedindense orsparse applications. precision cannot result fromseveral imprecise devices. Precision, time, andenergy usageareanalyzed, and Cameras canbeusedtotrack relative distances toandfrom collision risk isbriefly discussed