• 한국정밀공학회지
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• 제31권11호
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• pp.1023-1030
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• 2014

This paper presents a new method to control swarm robots so that they can keep the formation while following a curved path. The main idea is to utilize the information on the instant center of gyration. For a given path, location of the instant center of the formation center is calculated, and individual robots follow the circular path around the calculated instant center. Performance of curvature-radius based method is compared with leader-follower referenced method via MATLAB simulation.