RESEARCH ON MULTI ROBOT DYNAMIC FORMATIONS
RESEARCH ON MULTI ROBOT DYNAMIC FORMATIONS
摘 要
Abstract
Contents
List of Figures
Chapter 1 Formations and Multi Robot Systems
1.1 Introduction
1.2 Objective
1.3 Overview of Multi Robot Systems
1.4 Multi Robot System Control
1.5 Taxonomy of Multi-Robot Systems
1.6 Formation and Multi Robot Systems
1.7 Formations in Nature
1.8 Formation Applications
1.9 Formations Control in Robotic Literature
1.10 Thesis Outline
Chapter 2 Theory of Formation
2.1 Formation Architecture
2.2 Limitations in Making Format
2.3 Formation Error and Stability
2.4 Basic Formations
2.5 Summary
Chapter 3 Modeling Formation System
3.1 The Problem
3.2 Related Work
3.3 Formations
3.4 The Model
3.5 The Computational Cyc
3.6 Robot Dynamics
3.7 Formation Feedback
3.8 Motor Schema-based Formation Control
3.9 Formation Leader’s Position
3.10 Joining Formation
3.11 Formation and Obstacle Avoidance (Formation
3.12 The Formations Inner Distances
3.13 Communication Error in Formation
3.14 Summary
Chapter 4 Dynamic Formations
4.1 Introduction
4.2 The Basic Model
4.3 The Formation Problem
4.4 Dynamics for Robot Formation
4.5 The Formation Algorithm
4.6 The Simulation Results
4.7 Summary
Chapter 5 Formations in Edutainment (Education
5.1 Introduction
5.2 The Theoretical Concept
5.3 The Algorithm
5.4 Evaluation Criterion
5.5 High Resolution Characters
5.6 Summary
Conclusions
References
Publications
Acknowledgments
Resume