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A multi-robot simulator for the evaluation of formation control algorithms

Soni, Aakash and Hu, Huosheng (2020) A multi-robot simulator for the evaluation of formation control algorithms. In: 2019 11th Computer Science and Electronic Engineering (CEEC), 2019-09-18 - 2019-09-20, Colchester, UK.

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Abstract

Autonomous/unmanned driving has the capability to provide numerous benefits such as better traffic management, increased safety, reduced emission, and enhanced transportation network. Once autonomous ground vehicles (AGVs) are deployed, they will have to interact with other such vehicles. Interaction between multiple AGVs is an important area of research where analysis on the performance of algorithms/control schemes of AGVs is carried out. Performing real-world experiments with teams of autonomous vehicles is a challenging task due to cost and complexity. On the other hand, a simulation can emulate reality and provide an inexpensive and less time-consuming development process compared to the real world robots' testing. Therefore, a simulation tool is developed for multi-robot navigation. This simulator is based on open-source Robot Operating Systems (ROS) and natively supported robotics simulator Gazebo.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: 2019 11th Computer Science and Electronic Engineering (CEEC)
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 06 Jul 2021 11:23
Last Modified: 06 Jul 2021 12:15
URI: http://repository.essex.ac.uk/id/eprint/28382

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