Distributed Formation Control of Heterogeneous Robots with Limited Information

  • Michael de Denus
  • John Anderson
  • Jacky Baltes
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)


In many multi-robot tasks, it is advantageous for robots to assemble into formations. In many of these applications, it is useful for the robots to have differing capabilities (i.e., be heterogeneous) in terms of perception and locomotion abilities. In real world settings, groups of robots may also have only imperfect or partially-known information about one another as well. Together, heterogeneity and imperfect knowledge provide significant challenges to creating and maintaining formations. This paper describes a method for formation control that allows heterogeneous robots with limited information (no known population size, shared coordinates, or predefined relationships) to dynamically assemble into formation, merge smaller formations together, and correct errors that may arise in the formation. Using a simulation, we have shown our approach to be scalable and robust against robot failure.


Entry Point Formation Error Formation Control Mixed Reality Locomotion Ability 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Michael de Denus
    • 1
  • John Anderson
    • 1
  • Jacky Baltes
    • 1
  1. 1.Autonomous Agents Laboratory, Dept. of Computer ScienceUniversity of ManitobaWinnipegCanada

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