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Obstacle avoidance of robotic formations based on fluid mechanical modeling

Shames, Iman; Fidan, Baris; Soukieh, Rabie


This paper is on obstacle avoidance of swarms of robots moving in certain geometric planar formations. Focus is given to a particular obstacle avoidance approach, which is based on the fluid mechanical principle known as the Circle Theorem. Considering the motion region as a fictitious fluid environment surrounding the obstacles, fluid streamlines are calculated which correspond to unique smooth paths that a robot or a robotic formation can follow without colliding with the obstacles. The...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: 2009 European Control Conference, ECC 2009


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