Distributed control of multi-robot systems using bifurcating potential fields

Derek J. Bennet, C.R. McInnes

Research output: Contribution to journalArticlepeer-review

36 Citations (Scopus)
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The distributed control of multi-robot systems has been shown to have advantages over conventional single robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using bifurcating potential fields. It is shown how various patterns can be achieved through a simple free parameter change. In addition the stability of the system of robots is proven to ensure that desired behaviours always occur.
Original languageEnglish
Pages (from-to)256-264
Number of pages8
JournalRobots and Autonomous Systems
Issue number3
Early online date27 Nov 2009
Publication statusPublished - 31 Mar 2010


  • multi-robot systems
  • bifurcation
  • bifurcating potential fields
  • robotics
  • distributed control systems

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