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Advances in Robotics Research Volume 2, Number 3, September 2018 , pages 219-236 DOI: https://doi.org/10.12989/arr.2018.21.3.219 |
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Controlling robot formations by means of spatial reasoning based on rough mereology |
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Lukasz Zmudzinski, Lech Polkowski and Piotr Artiemjew
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| Abstract | ||
| This research focuses on controlling robots and their formations using rough mereology as a means for spatial reasoning. The authors present the state of the art theory behind path planning, robot cooperation domains and ways of creating robot formations. Furthermore, the theory behind Rough Mereology as a way of implementing mereological potential field based path creation and navigation for single and multiple robots is described. An implementation of the algorithm is shown in simulation using RoboSim simulator. Five formations are tested (Line, Rhomboid, Snake, Circle, Cross) along with three decision systems (First In, Leader First, Horde Mode) as compared to other methods. | ||
| Key Words | ||
| rough mereology; path planning; robot teams; potential fields | ||
| Address | ||
| Lukasz Zmudzinski, Lech Polkowski and Piotr Artiemjew: Faculty of Mathematics and Computer Science University of Warmia and Mazury in Olsztyn Sloneczna 54, 10-710 Olsztyn, Poland | ||
