Optimal Design of Grazing Behavior for Multi-Agent Robots

摘要

This paper considers the problem of razing behavior, which is one of the most fundamental social behaviors and very important in the formation control of robot teams. Similar to the complete coverage problem but with dynamic moving behaviors, we investigated some optimal team control rules under the requirement of minimum dwell time, which is reasonable in completing a practical task. The optimal path planning algorithms have been obtained in terms of maximizing the grazed area per unit time. Finally, the algorithms together with a formation control have been implemented online for nonholonomic robots.