Descrição
In this paper, we show how a team of autonomous
mobile robots, which drive in formation, can be endowed with basic cognitive capabilities. The formation control relies on the leader-follower strategy, with three main pair-wise con-figurations: column, line and oblique. Furthermore, non-linear attractor dynamics are used to generate basic robotic behaviors
(i.e. follow-the-leader and avoid obstacles). The control archi-tecture of each follower integrates a representation of the leader
(target) direction, which supports leader detection, selection
between multiple leaders (decision) and temporary estimation
of leader direction (short-term memory during occlusion and
prediction). Formalized as a dynamic neural field, this additional
layer is smoothly integrated with the motor movement control
system. Experiments conducted in our 3D simulation software,
as well as results from the implementation in middle size
robotic platforms, show the ability for the team to navigate,
whilst keeping formation, through unknown and unstructured
environments and is robust against ambiguous and temporarily
absent sensory information.
; Monteiro, Sérgio 
