Leader-formation navigation with sensor constraints

Yangmin Li, Xin Chen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)


In case of a group of robots keeping certain shape passing through a special environment, members of the robots must change their relative positions in formation in order to avoid obstacles or to resume a predetermined formation shape after passing by. Due to sensor constraints and communication barrier, the interaction topologies describing interactions among robots maybe change with time. Therefore, to realize formation under sensor constraints, we propose a local control strategy which ensures the formation converge to the predetermined formation pattern even if interaction topologies are dynamic. At last a path planning method using particle swarm optimization is adopted and a navigation strategy for multi-robot formation is proposed and implemented.
Original languageEnglish
Title of host publicationICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition
Number of pages6
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventICIA 2005: 2005 International Conference on Information Acquisition - Hong Kong, Hong Kong
Duration: 27 Jun 20053 Jul 2005


ConferenceICIA 2005: 2005 International Conference on Information Acquisition
Country/TerritoryHong Kong
CityHong Kong

ASJC Scopus subject areas

  • General Engineering


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