SAEZ-PONS, Joan, ALBOUL, Lyuba and PENDERS, Jacques (2011). Experiments in cooperative human multi-robot navigation. In: Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE Explore, 5615 -5621 .
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In this paper, we consider the problem of a group of autonomous mobile robots and a human moving coordinately in a real-world implementation. The group moves throughout a dynamic and unstructured environment. The key problem to be solved is the inclusion of a human in a real multi-robot system and consequently the multiple robot motion coordination. We present a set of performance metrics (system efficiency and percentage of time in formation) and a novel flexible formation definition whereby a formation control strategy both in simulation and in real-world experiments of a human multi-robot system is presented. The formation control proposed is stable and effective by means of its uniform dispersion, cohesion and flexibility.
|Item Type:||Book Section|
|Research Institute, Centre or Group:||Materials and Engineering Research Institute > Centre for Robotics and Automation > Mobile Machine and Vision Laboratory|
|Depositing User:||Jacques Penders|
|Date Deposited:||24 Aug 2011 11:23|
|Last Modified:||24 Aug 2011 11:23|
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