Motion control in dynamic multi-robot environments

M. Bowling and Manuela Veloso
Proceedings of the1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99), December, 1999, pp. 168 - 173.


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Abstract
This paper presents the motion control system used by CMUnited-98, the small-size league champion at RoboCup-98. The robotic soccer team consists of five robots that aim at achieving specific goals while navigating in a limited space shared with the five other opponent robots. We introduce our motion control algorithm, which allows a general differential-driven robot to accurately reach a target point with a desired orientation in an environment with multiple moving obstacles. We describe how the features of our motion controller help to build interesting and robust behaviors. We also briefly compare our system to other motion control techniques and include descriptions and illustrations of the performance of our fully-implemented motion control algorithm.

Notes
Associated Lab(s) / Group(s): MultiRobot Lab
Associated Project(s): Robotic Soccer

Text Reference
M. Bowling and Manuela Veloso, "Motion control in dynamic multi-robot environments," Proceedings of the1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99), December, 1999, pp. 168 - 173.

BibTeX Reference
@inproceedings{Veloso_1999_3820,
   author = "M. Bowling and Manuela Veloso",
   title = "Motion control in dynamic multi-robot environments",
   booktitle = "Proceedings of the1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99)",
   pages = "168 - 173",
   month = "December",
   year = "1999",
}