Abstract
In this chapter, we will first give an introduction of multiagent systems, which can serve as abstraction or simplified models for vast real-life complex systems, where local interactions among agents lead to complex global behaviors such as coordination, synchronization, formation, and so on. Then, as simple yet nontrivial examples of cooperation among robots, two typical cases of three-robot line formations are investigated and illustrated in a general mathematical framework of optimal multirobot formation. The robots moving with different speeds are expected to row on one straight line with the minimum formation time, so that the formation can be formulated in the most efficient way. Next, we investigate the hunting issue of a multirobot system in a dynamic environment. The proposed geometry-based strategy has the advantages of fast calculation and can be applied to three-dimensional space easily. At the end of the chapter, we investigate a few important problems in multirobot cooperative lifting control, and present an simulation study showing an example of four arms lifting one desk.
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Yang, C., Ma, H., Fu, M. (2016). Multiagent Robot Systems. In: Advanced Technologies in Modern Robotic Applications. Springer, Singapore. https://doi.org/10.1007/978-981-10-0830-6_10
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DOI: https://doi.org/10.1007/978-981-10-0830-6_10
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