The article presents a distributed guiding-vector-field (DGVF) algorithm for multi-robot path navigation. The DGVF algorithm enables robots to follow a predefined path in n-dimensional space, eliminating singular points where vector fields vanish. The algorithm also enables robots to approach a closed and self-intersecting desired path. Interactions among neighboring robots and a virtual target robot allow the realization of the desired platoon, with relative parametric displacements achieved with arbitrary ordering sequences. The effectiveness of the DGVF algorithm is demonstrated through 2D and 3D experiments.
Publication date: 3 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.00976
