Experiments in cooperative human multi-robot navigation

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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Link to published version:: https://doi.org/10.1109/ICRA.2011.5979769


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 - Does NOT include content added after October 2018: Materials and Engineering Research Institute > Modelling Research Centre > Microsystems and Machine Vision Laboratory
Identification Number: https://doi.org/10.1109/ICRA.2011.5979769
Page Range: 5615 -5621
Depositing User: Jacques Penders
Date Deposited: 24 Aug 2011 10:23
Last Modified: 18 Mar 2021 13:47
URI: https://shura.shu.ac.uk/id/eprint/3601

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