A Packet Loss Compliant Logic-Based Communication Algorithm for Cooperative Path-Following Control

Rego, Francisco; Aguiar, A. Pedro; Pascoal, António

doi:10.3182/20130918-4-jp-3022.00055

Cited by 5 publications

(1 citation statement)

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“…LBC techniques have been introduced in [26,43,2,45] to reduce the number of communications in trajectory tracking problems. MAS with decoupled nonlinear agent dynamics are considered in [26,2]. Agents have to follow parametrized paths, designed in a centralized way.…”

Section: Related Workmentioning

confidence: 99%

Distributed event-triggered control strategies for multi-agent formation stabilization and tracking

et al. 2019

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This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce the number of communications between agents. For that purpose, to evaluate its control input, each agent maintains estimators of the states of its neighbour agents. Communication is triggered when the discrepancy between the actual state of an agent and the corresponding estimate reaches some threshold. The impact of additive state perturbations on the formation control is studied. A condition for the convergence of the multi-agent system to a stable formation is studied. The time interval between two consecutive communications by the same agent is shown to be strictly positive. Simulations show the effectiveness of the proposed approach.Distributed cooperative control of a multi-agent system (MAS) usually requires significant exchange of information between agents. In early contributions, see, e.g., [25,39], communication was considered permanent. Recently, more practical approaches have been proposed. For example, in [40,41,42], communication is intermittent, alternating phases of permanent communication and of absence of communication. Alternatively, communication may only occur at discrete time instants, either periodically as in [13], or triggered by some event, as in [9,11,46,37]. This paper proposes a strategy to reduce the number of communications for displacement-based formation control while following a desired reference trajectory. Agent dynamics are described by Euler-Lagrange models and include perturbations. This work extends results presented in [44] by introducing an event-triggered strategy, and results of [19,33,34] by addressing systems with more complex dynamics than a simple integrator. To obtain efficient distributed control laws, each agent uses an estimator of the state of the other agents. The proposed distributed communication triggering condition (CTC) involves the inter-agent displacements and the relative discrepancy between actual and estimated agent states. A single a priori trajectory has to be evaluated to follow the desired path. Effect of state perturbations on the formation and on the communications are analyzed. Conditions for the Lyapunov stability of the MAS have been introduced. The time interval between two consecutive communications by the same agent is shown to be strictly positive.This paper is organized as follows. Related work is detailed in Section 2. Some assumptions are introduced in Section 3 and the formation parametrization is described in Section 4. As the problem considered here is to drive a formation of agents along a desired reference trajectory, the designed distributed control law consists of two parts. The first part (see Section 4) drives the agents to some target formation and maintains the formation, despite the presence of perturbations. It is based on estimates of the states of the agents described in Section 5.1...

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Section: Related Workmentioning

confidence: 99%

Distributed event-triggered control strategies for multi-agent formation stabilization and tracking

et al. 2019

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WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

Simetti

Indiveri²,

Pascoal

2020

Journal of Field Robotics

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This paper presents the main results of the European H2020 WiMUST project, whose aim was the development of a system of cooperative autonomous underwater vehicles and autonomous surface vehicles for geotechnical surveying. In particular, insights on the overall robotic technologies and methodologies employed, ranging from the communications and navigation framework to the cooperative and coordinated control solutions are given. The software architecture and the lessons learnt from the preliminary field test are also discussed. Finally, field results of the final survey campaign carried out in the Atlantic Ocean are presented, demonstrating how a team of seven robots could autonomously conduct a geotechnical survey, producing seismic images without artifacts.

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