Decentralized Motion Coordination for a Formation of Rovers

Anjan Kumar Ray, Patrick Benavidez, Laxmidhar Behera, M Jamshidi

    Research output: Contribution to journalArticlepeer-review

    24 Citations (Scopus)


    Abstract—In this paper, a decentralized formation control isproposed which enables collision free coordination and navigationof agents. We present a simple method to define the formationof multi-agents and individual identities (IDs) of agents. Two decentralizedcoordination and navigation techniques are proposedfor the formation of rovers. Agents decide their own behaviorsonboard depending upon the motion initiative of the master agentof the formation. In these approaches, any agent can estimatebehavior of other agents in the formation. These will reduce thedependency of individual agent on other agents while takingdecisions. These approaches reduce the communication burdenon the formation where only the master agent broadcasts itsmotion status per sampled time. Any front agent can act as amaster agent without affecting the formation in case of fault ininitial master agent. The main idea of this paper is to developan adequate computational model under which agents in theformation will perform to coordinate among each other. Assignmentsof IDs to agents are very useful in real-time applications.These proposed schemes are suitable for obstacle avoidance inunknown environment as a whole formation. Agents are free fromcollision among each other during navigation. These schemes canbe used for velocity as well as orientation alignment problemsfor a multi-agent rover network. These schemes are tested withextensive simulations and responses of agents show satisfactoryperformances to deal with different environmental conditions.
    Original languageEnglish
    Pages (from-to)369-381
    JournalIEEE Systems Journal
    Issue number3
    Publication statusPublished - Sep 2009


    • Mobile robot navigation
    • multi-agent formation
    • path planning
    • robotic swarm
    • system of systems.


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