A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots

Shuang Liu; Dong Sun; Changan Zhu; Wen Shang

doi:10.1109/IROS.2009.5354715

A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots

Shuang Liu, Dong Sun, Changan Zhu, Wen Shang

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

16 Citations (Scopus)

Abstract

This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system. © 2009 IEEE.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	3774-3779
DOIs	https://doi.org/10.1109/IROS.2009.5354715
Publication status	Published - 11 Dec 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) - St. Louis, United States Duration: 11 Oct 2009 → 15 Oct 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
Place	United States
City	St. Louis
Period	11/10/09 → 15/10/09

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10.1109/IROS.2009.5354715

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title = "A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots",

abstract = "This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system. {\textcopyright} 2009 IEEE.",

author = "Shuang Liu and Dong Sun and Changan Zhu and Wen Shang",

year = "2009",

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day = "11",

doi = "10.1109/IROS.2009.5354715",

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booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) ; Conference date: 11-10-2009 Through 15-10-2009",

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Liu, S, Sun, D, Zhu, C & Shang, W 2009, A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354715, pp. 3774-3779, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, Missouri, United States, 11/10/09. https://doi.org/10.1109/IROS.2009.5354715

A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots. / Liu, Shuang; Sun, Dong; Zhu, Changan et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 3774-3779 5354715.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Sun, Dong

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AU - Shang, Wen

PY - 2009/12/11

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N2 - This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system. © 2009 IEEE.

AB - This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system. © 2009 IEEE.

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DO - 10.1109/IROS.2009.5354715

M3 - RGC 32 - Refereed conference paper (with host publication)

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BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)

Y2 - 11 October 2009 through 15 October 2009

ER -

A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots

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