Title: Decentralised coordination of groups of autonomous mobile robots

Authors: Andrey V. Savkin

Addresses: School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW 2052, Australia

Abstract: The paper gives a qualitative analysis of the dynamics of a system consisting of several mobile robots coordinating their motion using simple local nearest neighbour rules. We show that under some assumptions the headings of all robots will be eventually constant. We give an example of a multi-agent system with a cyclic dynamics.

Keywords: decentralised control; multi-robot systems; flocking motion; multi-agent coordination; autonomous vehicles; decentralised coordination; group coordination; cyclic dynamics; autonomous mobile robots; multiple robots; multi-agent systems; MAS; agent-based systems; robot motion.

DOI: 10.1504/IJSCC.2008.019584

International Journal of Systems, Control and Communications, 2008 Vol.1 No.1, pp.72 - 81

Published online: 17 Jul 2008 *

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