'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
In this paper, we consider the problem of a
group of autonomous mobile robots and a human moving
coordinately in a real-world implementation. The group
moves throughout a dynamic and unstructured environment.
The key problem to be solved is the inclusion of a human in a
real multi-robot system and consequently the multiple robot
motion coordination. We present a set of performance metrics
(system efficiency and percentage of time in formation) and a
novel flexible formation definition whereby a formation
control strategy both in simulation and in real-world
experiments of a human multi-robot system is presented. The
formation control proposed is stable and effective by means of
its uniform dispersion, cohesion and flexibility
