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Title
Japanese: 
English:Implementation of Formation Transition System using synchronization among a Mobile Robot Group 
Author
Japanese: Takaaki Shimone, 倉林 大輔, Kunio Okita, 舩戸 徹郎.  
English: Takaaki Shimone, Daisuke Kurabayashi, Kunio Okita, Tetsuro Funato.  
Language English 
Journal/Book name
Japanese: 
English:Proceeding of 6th Int. Conf. on Field and Service Robotics 
Volume, Number, Page         pp. 303-312
Published date July 2007 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:International Conference on Field and Service Robotics 
Conference site
Japanese: 
English:Chamonix, France 
Official URL http://www.inrialpes.fr/FSR07/
 
Abstract Abstract: In this paper, we propose a passage algorithm through a narrow space for a Mobile Robot Group. We form a steady formation by making Delaunay-Diagram using profiles of surrounding robots. And we resolve deadlock by using the phase gap of Nonlinear Oscillators that input profiles of surrounding obstacles. We implement the proposing system into real multirobot system in order to show its effectiveness.

©2007 Tokyo Institute of Technology All rights reserved.