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Sensors (Basel). 2014 Apr 22;14(4):7229-47. doi: 10.3390/s140407229.

An interactive control algorithm used for equilateral triangle formation with robotic sensors.

Author information

1
Department of Physics and Electronic Engineering, Hanshan Normal University, Chaozhou 521041, China. lixiang@hstc.edu.cn.
2
Department of Physics and Electronic Engineering, Hanshan Normal University, Chaozhou 521041, China. chc2523136@hstc.edu.cn.

Abstract

This paper describes an interactive control algorithm, called Triangle Formation Algorithm (TFA), used for three neighboring robotic sensors which are distributed randomly to self-organize into and equilateral triangle (E) formation. The algorithm is proposed based on the triangular geometry and considering the actual sensors used in robotics. In particular, the stability of the TFA, which can be executed by robotic sensors independently and asynchronously for E formation, is analyzed in details based on Lyapunov stability theory. Computer simulations are carried out for verifying the effectiveness of the TFA. The analytical results and simulation studies indicate that three neighboring robots employing conventional sensors can self-organize into E formations successfully regardless of their initial distribution using the same TFAs.

PMID:
24759118
PMCID:
PMC4029652
DOI:
10.3390/s140407229
[Indexed for MEDLINE]
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