Motor Schema-based Formation Control for Multiagent Robot Teams

Abstract

New reactive behaviors that implement formations in multi-robot
\nteams are presented and evaluated. These motor schemas, or primitive
\nbehaviors, for relative positional maintenance are integrated with
\nexisting navigational behaviors to help robots complete navigational
\ntasks while in formation. Four formations, based on existing military
\ndoctrine, and three methods for determining correct vehicle position
\nare investigated. The performance of a group of four simulated
\nrobots using this technique is evaluated quantitatively for both turning
\nand for navigation across an obstacle field. These team behaviors will
\nultimately be fielded on four military vehicles as part of ARPA's UGV
\nDemo II program.