Abstract
A key problem in cooperative robotics is the maintenance of a geometric configuration during movement. To address this problem, the concept of a Virtual Structure is introduced. Using this idea, a general control strategy is developed to force an ensemble of robots to behave as if they were particles embedded in a rigid structure. The method was instantiated and tested using both simulation and experimentation with a set of 3 differential drive mobile robots. Results are presented that demonstrate that this approach is capable of achieving high precision movement that is fault tolerant and exhibits graceful degradation of performance. In addition, this algorithm does not require leader selection as in other cooperative robotic strategies. Finally, the method is inherently highly flexible in the kinds of geometric formations that can be maintained.
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