Guiding a group of people by a team of mobile robots

Edgar A. Martínez-García, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to journalArticlepeer-review


This paper describes a multi-robot system purposed to guide a group of people that encompasses a strategy to conduct and crowd persons by a team of three mobile robots. It includes: a methodology to localise (track) the members of the group; a suitable multi-robot system architecture design; and a motion planner that synchronises and controls (guides) the trajectory of the group. A key problem in the implementation of the system is a way of controlling the conduction with no communication between humans and the team of robots (no signal of any type for guiding). Some experimental and simulation results are presented that exhibit the effectiveness of the overall system.

Original languageEnglish
Pages (from-to)308-327
Number of pages20
JournalInternational Journal of Vehicle Autonomous Systems
Issue number2-4
Publication statusPublished - 2006


  • Motion planning
  • Multi-robot system
  • People-guiding
  • Trajectory control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Automotive Engineering
  • Electrical and Electronic Engineering


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