This paper focuses on designing parameters for a protocol that enables a swarm of 3 non-holonomic robots to generate periodic trochoidal trajectories. This technique is beneficial for applications such as surveillance, coverage, and target detection. The design ensures collision-free paths, maintaining proper communication range, and feasibility of path tracking. The robots can also be added to these paths at specific locations to increase the refresh rate without violating any geometric constraints. The paper also shows a successful implementation of the designs on an indoor mobile robot platform.
Publication date: 20 Nov 2023
Project Page: https://arxiv.org/abs/2311.11720v1
Paper: https://arxiv.org/pdf/2311.11720
