Multi-Robot Assignment and Formation Control

摘要

Our research focuses on one of the more fundamental issues in multi-agent, mobile
\nrobotics: the formation control problem. The idea is to create controllers that cause
\nrobots to move into a predefined formation shape. This is a well studied problem for
\nthe scenario in which the robots know in advance to which point in the formation they
\nare assigned. In our case, we assume this information is not given in advance, but must
\nbe determined dynamically. This thesis presents an algorithm that can be used by
\na network of mobile robots to simultaneously determine efficient robot assignments
\nand formation pose for rotationally and translationally invariant formations. This
\nallows simultaneous role assignment and formation sysnthesis without the need for
\nadditional control laws.
\n
\nThe thesis begins by introducing some general concepts regarding multi-agent
\nrobotics. Next, previous work and background information specific to the formation
\ncontrol and assignment problems are reviewed. Then the proposed assignment al-
\ngorithm for role assignment and formation control is introduced and its theoretical
\nproperties are examined. This is followed by a discussion of simulation results. Lastly,
\nexperimental results are presented based on the implementation of the assignment al-
\ngorithm on actual robots.