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—Formations of multi-agent systems, such as mobile robots, satellites and aircraft, require individual agents to satisfy their kinematic equations while constantly maintaining interagent constraints. In this paper, we develop a systematic framework for studying formation motion feasibility of multi-agent systems. In particular, we consider formations(More)
— This paper describes an approach to the modeling and control of multi-agent populations composed of a large number of agents. The complexity of population modeling is avoided by assuming a stochastic approach, under which the agent distribution over the state space is modeled. The dynamics of the state probability density functions is determined and a(More)
— This paper introduces a testbed for sensor and robot network systems, currently composed of 10 cameras and 5 mobile wheeled robots equipped with several sensors for self-localization, obstacle avoidance and vision cameras, and wireless communications. The testbed includes a service-oriented middleware to enable fast prototyping and implementation of(More)
This paper proposes the use of a discrete event system to model the navigation of a homogeneous population of mobile robots moving in an environment composed of a number of discrete sites. We derive results that relate the blocking and controllability properties of the automaton modeling the complete system with the blocking and controllability properties(More)
The SocRob project was born as a challenge for multidisciplinary research on broad and generic approaches for the design of a cooperative robot society, involving Control, Robotics and Artificial Intelligence researchers. A case study on Robotic Soccer played by a team of 3 robots has started two years ago and was first tested last year during RoboCup98.(More)