Autonomous decentralized control for formation of multiple mobile robots considering ability of robot

Hiromasa Takahashi, Hiroaki Nishi, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

102 Citations (Scopus)


The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the "Leader-Following" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method.

Original languageEnglish
Pages (from-to)1272-1279
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Issue number6
Publication statusPublished - 2004 Dec


  • "Leader-Following" strategy
  • Ability of a robot
  • Autonomous decentralized control
  • Collision avoidance
  • Formation control
  • Performance index
  • RT-Messenger

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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