Now showing items 1-5 of 5

  • A non-communicating multi-robot system with switchable formations 

    Authors:Cezayirli, Ahmet; Kerestecioǧlu, Feza
    Publisher and Date:(2013)
    We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions. © 2013 IEEE.

  • Connected navigation of non-communicating mobile agents 

    Authors:Kerestecioǧlu, Feza; Cezayirli, Ahmet
    Publisher and Date:(IEEE, 2012)
    This article discusses the connectivity of autonomous mobile robots that do not have communication capabilities. We show that if the group members follow the proposed Local Steering Strategy which utilizes information only about the relative positions of neighbor robots they can sustain their connectivity even in the case of bounded position measurement errors and the occultation of robots by other robots in the group. To reduce the computational burden in the implementation of the proposed ...

  • Navigation of autonomous mobile robots in connected groups 

    Authors:Cezayirli, Ahmet; Kerestecioǧlu, Feza
    Publisher and Date:(IEEE, 2008)
    The navigation of autonomous mobile robots as a group is considered in this paper. Definitions adopted from the graph theory are given to characterize the robot group. A local steering strategy is proposed such that when each robot in the group applies this steering scheme the overall result is that the whole group is displaced without losing its connectivity. This is achieved using only limited-range position sensors and without any communication between the robots.

  • Navigation of non-communicating autonomous mobile robots with guaranteed connectivity 

    Authors:Cezayirli, Ahmet; Kerestecioǧlu, Feza
    Publisher and Date:(Cambridge Univ Press, 2013)
    We consider the connectivity of autonomous mobile robots. The robots navigate using simple local steering rules without requiring explicit communication among themselves. We show that using only position information of neighbors the group connectivity can be sustained even in the case of bounded position measurement errors and the occlusion of robots by other robots in the group. In implementing the proposed scheme sub-optimal solutions are invoked to avoid an excessive computational burden. We ...

  • On preserving connectivity of autonomous mobile robots 

    Authors:Cezayirli, Ahmet; Kerestecioǧlu, Feza
    Publisher and Date:(IEEE, 2009)
    The connectivity of the autonomous mobile robots is considered in this paper. The group navigation is provided using simple local steering rules and without any explicit communication. Sub-optimal solutions are invoked to avoid computational cost. We show that the connectivity of the group is preserved during the whole motion in spite of bounded measurement errors on angles and distances. Some special cases of group topology are also discussed.