Preliminary experiments of formation control using the null-space-based behavioral control,” presented at the 8th IFAC Symp. Robot Control

Abstract: In this paper a new behavior-based approach to formation control of a multirobot system is presented. The proposed technique, namely the Null-Space-based Behavioral (NSB) control, is based on the decomposition of the overall mission into elementary tasks. For each of them a suitable task function is defined and, referring to an inverse kinematic approach, the relative motion reference command is elaborated. Then, using an appropriate policy to deal with multiple conflicting tasks, the NSB elaborates the final velocity reference commands for each vehicle. Preliminary experimental results performed with a platoon of up to 6 Khepera II mobile robots show the effectiveness of the approach. Copyright c©2006 IFA