https://scholars.lib.ntu.edu.tw/handle/123456789/340762
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.author | Mai, C.-Y. | en_US |
dc.contributor.author | FENG-LI LIAN | en_US |
dc.creator | Mai, C.-Y.;Lian, F.-L. | - |
dc.date.accessioned | 2018-09-10T07:03:02Z | - |
dc.date.available | 2018-09-10T07:03:02Z | - |
dc.date.issued | 2008 | - |
dc.identifier.uri | http://www.scopus.com/inward/record.url?eid=2-s2.0-70349627322&partnerID=MN8TOARS | - |
dc.identifier.uri | http://scholars.lib.ntu.edu.tw/handle/123456789/340762 | - |
dc.description.abstract | This paper analyses the characteristics and property of generating a formation by a team of homogenous robots. Graphic networking patterns are used to model the physical relationship and information exchanging topology among robots. The high-level controller based on artificial potential field is designed for the formation generation. Five scenarios of formation control with considering the effect of different networking topologies are discussed and simulated in detail. Factors such as robustness, convergence speed, power consumption and system efficiency are compared for different information sharing topologies. Simulation results show that motion interaction of robots in formation control can be more efficient and robust with properly chosen networking patterns. © 2008 Inderscience Enterprises Ltd. | - |
dc.format | application/pdf | en |
dc.format.mimetype | application/pdf | - |
dc.language | en | en |
dc.relation | International Journal of Systems, Control and Communications 1 (1): 98-123 | en |
dc.relation.ispartof | International Journal of Systems, Control and Communications | en_US |
dc.source | AH-Scopus to ORCID | - |
dc.subject | artificial potential field; graph theory; motion interaction; multi-robot system; networking topology | - |
dc.title | Analysis of formation control and networking pattern in multi-robot systems: a hexagonal formation example | - |
dc.type | journal article | en |
dc.identifier.doi | 10.1504/IJSCC.2008.019586 | - |
dc.identifier.scopus | 2-s2.0-70349627322 | - |
dc.relation.pages | 98-123 | - |
dc.relation.journalvolume | 1 | - |
dc.relation.journalissue | 1 | - |
item.openairetype | journal article | - |
item.fulltext | no fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_6501 | - |
item.grantfulltext | none | - |
item.cerifentitytype | Publications | - |
crisitem.author.dept | Electrical Engineering | - |
crisitem.author.dept | Center for Artificial Intelligence and Advanced Robotics | - |
crisitem.author.orcid | 0000-0002-1260-4894 | - |
crisitem.author.parentorg | College of Electrical Engineering and Computer Science | - |
crisitem.author.parentorg | Others: University-Level Research Centers | - |
顯示於: | 電機工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。