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This paper proposes a new coordination method for multi-robot system.The state space for a multi-robot system is constructed according to the task requirements and system characteristics.Reachable statefor the system is constrained by the system s internal and external constraints,under which the task isexecutable if there exists a state transition trajectory from the initial to the goal state in its state space.Ifthe task is realizable,the feasible or the optimal strategy for task execution could then be investigated inthe state space.Otherwise,the task could be modified to be realizable via adjusting system s configura-tions and/or task constraints,which provides critical guidance for system reconstructions.This con-tributes to the designing and planning of the robotic tasks.Experiments of multi-robot formation movementare conducted to show the validity of the proposed method.
This paper proposes a new coordination method for multi-robot system. The state space for a multi-robot system is constructed according to the task requirements and system characteristics. Reachable state for the system is constrained by the system s internal and external constraints, under the task isexecutable if there exists a state transition trajectory from the initial to the goal state in its state space.Ifthe task is realizable, the feasible or the optimal strategy for task execution could then be investigated inthe state space.Otherwise, the task could be modified to be realizable via adjusting system s configura-tions and / or task constraints, which provides critical guidance for system reconstructions. This con-tributes to the designing and planning of the robotic tasks. Experiments of multi-robot formation movementare conducted to show the validity of the proposed method