Dynamic Density-Guided Method for Multi-Robot Formation Transformation

This paper addresses the formation control problem for ground mobile robot formations and proposes a formation transition method based on dynamic density guidance. To achieve different formation transitions, a centroidal Voronoi tessellations (CVT) formation control algorithm is utilized to avoid co...

Full description

Bibliographic Details

Published in:	Shanghai Jiaotong Daxue xuebao
Main Author:	CAO Kai, CHEN Yangquan, LI Kang, CHEN Chaobo, YAN Kun, LIU Weichao
Format:	Article
Language:	Chinese
Published:	Editorial Office of Journal of Shanghai Jiao Tong University 2024-11-01
Subjects:	multi-robot centroidal voronoi tessellations formation control formation transformation
Online Access:	https://xuebao.sjtu.edu.cn/article/2024/1006-2467/1006-2467-58-11-1783.shtml