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Proceedings Paper

The effect of collision avoidance for autonomous robot team formation
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Paper Abstract

As technology and research advance to the era of cooperative robots, many autonomous robot team algorithms have emerged. Shape formation is a common and critical task in many cooperative robot applications. While theoretical studies of robot team formation have shown success, it is unclear whether such algorithms will perform well in a real-world environment. This work examines the effect of collision avoidance schemes on an ideal circle formation algorithm, but behaves similarly if robot-to-robot communications are in place. Our findings reveal that robots with basic collision avoidance capabilities are still able to form into a circle, under most conditions. Moreover, the robot sizes, sensing ranges, and other critical physical parameters are examined to determine their effects on algorithm's performance.

Paper Details

Date Published: 2 May 2007
PDF: 11 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 65610M (2 May 2007); doi: 10.1117/12.718071
Show Author Affiliations
Mark H. Seidman, Rochester Institute of Technology (United States)
Shanchieh J. Yang, Rochester Institute of Technology (United States)


Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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