Optimization and Systems Theory Seminar
Friday, June 13, 2003, 11.00-12.00, Room 3721, Lindstedtsv. 25

Magnus Egerstedt
Electrical and Computer Engineering
Georgia Institute of Technology
Atlanta, GA 30332
E-mail: magnus@ece.gatech.edu

Autonomous Formation Switching for Multiple Mobile Robots

One somewhat neglected issue in the area of multi-agent coordination is what multi-agent formations to use in a given situation. We will show how to attck this problem as a hybrid control problem, and in particular it will be shown how to produce a control strategy for teams of mobile robots that switches between different formations as a reaction to environmental changes. The feasibility of the approach is verified in simulation, where a steepest descent algorithm is combined with standard reactive behaviors that ensure that the individual robots avoid neighboring obstacles and robots, while approaching a desired target location.
Calendar of seminars
Last update: May 15, 2003 by Anders Forsgren, anders.forsgren@math.kth.se.