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Abstract(s)
Dynamical systems theory is used as a theoretical
language and tool to design a distributed control architecture
for teams of mobile robots, that must transport a large
object and simultaneously avoid collisions with (either static or
dynamic) obstacles. Here we demonstrate in simulations and
implementations in real robots that it is possible to simplify
the architectures presented in previous work and to extend
the approach to teams of n robots. The robots have no prior
knowledge of the environment. The motion of each robot is
controlled by a time series of asymptotical stable states. The
attractor dynamics permits the integration of information from
various sources in a graded manner. As a result, the robots show
a strikingly smooth an stable team behaviour.
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Publisher
IEEE