Cluster Space Specification and Control of Mobile Multirobot Systems

  title={Cluster Space Specification and Control of Mobile Multirobot Systems},
  author={C. Kitts and Ignacio Mas},
  journal={IEEE/ASME Transactions on Mechatronics},
The cluster space state representation of mobile multirobot systems is introduced as a means of enabling enhanced control of mobile multirobot systems. A conceptual framework is proposed for the selection of appropriate cluster space state variables for an n-robot system, the development of formal kinematics that associate the cluster space state variables with robot-specific variables, and the implementation of a cluster space control system architecture. The cluster space approach is then… CONTINUE READING
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