Autonomous decentralized control for formation of multiple mobile-robots considering ability of robot

Takahashi, H.; Ohnishi, Kouhei

doi:10.1109/iecon.2003.1280557

Cited by 6 publications

(7 citation statements)

References 17 publications

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“…Conventional approaches to coordination of multiple mobile robots include: behavior-based method [1][2][3][4][5]; virtual structure techniques [6][7][8][9]; and leader-following strategy [10][11][12][13][14]. In behavior-based control, several desired behaviors are prescribed for each agent, and the final control is derived from a weighting of the relative importance of each behavior.…”

Section: Introductionmentioning

confidence: 99%

“…The advantage of this strategy is that the group dynamics contain formation feedback by coupling the weightings of the actions. The disadvantage is that it is difficult to describe the dynamics of the group and to guarantee the stability of the whole system [11]. In the virtual structure approach, the entire formation is treated as a single entity.…”

Section: Introductionmentioning

confidence: 99%

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A synchronization control strategy for multiple robot systems using shape regulation technology

Wang

Sun

2008

2008 7th World Congress on Intelligent Control and Automation

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This article presents a synchronization control strategyˈwhich can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Then a shape regulation technology concerning switching between formations is developed to help apply our control concept. Simulations are performed on a group of twenty fully-actuated mobile robots in switching tasks between some common shapes.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A synchronization control strategy for multiple robot systems using shape regulation technology

Wang

Sun

2008

2008 7th World Congress on Intelligent Control and Automation

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“…When i r is bounded, i E and i E & are further bounded from(12), and so are i e & from differentiating(9). Thus, i e& are bounded from(8). From(14), one knows that i r& are bounded as well.…”

mentioning

confidence: 97%

“…The existing control approaches for multi-robot formations include behavior-based methods [1][2][3], virtual structure techniques [4][5][6], leader-following strategies [7][8][9][10][11], and others. The stability issue of formation control among multiple agents has also been discussed in many works [12][13][14].…”

mentioning

confidence: 99%

A synchronous controller for multiple mobile robots in time-varied formations

Wang

Sun

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a synchronization control strategy for formation control of swarm of mobile robots. The formation control problem is successfully posed as a synchronization control problem, and the concept of synchronization error is created for measuring the formation control effect. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward, feedback and a saturation control, without significant use of robot models. It is proven that this synchronization controller guarantees both position and synchronization errors to converge to zero. The rotary control, in the form of a computed torque control, ensures that the robot is always oriented towards its desired position to assist the formation control in translation. Experiments were performed on three mobile robots in a formation switch task. The experimental results demonstrate the effectiveness of the proposed synchronous formation control approach.

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“…However, unfortunately, most real environments are dynamics with state changes occurring at a range of different speeds. Thus, for most real-world application, it is desirable that mobile robots are capable of exploring or moving within a dynamics environments [7,8].…”

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confidence: 99%

The Position Estimation of Mobile Robot Under Dynamic Environment

Choi

Lee

2007

IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society

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Localization is most important and necessary technology for mobile robot to work well. The robots need to recognize their position and pose in known environment as well as unknown environment. In the future, the robots will be humanfriendly robots that are able to coexist with humans in dynamic space. The localization includes several restrictions which arise from dynamic obstacles-people, moving chair, and so on. It is desirable for a mobile robot to estimate his position using dynamic obstacles. In this paper, we propose the method for the localization of the mobile robot using a moving object. Throughout the computer simulation experiments, its performance is verified.

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Autonomous decentralized control for formation of multiple mobile-robots considering ability of robot

Cited by 6 publications

References 17 publications

A synchronization control strategy for multiple robot systems using shape regulation technology

A synchronization control strategy for multiple robot systems using shape regulation technology

A synchronous controller for multiple mobile robots in time-varied formations

The Position Estimation of Mobile Robot Under Dynamic Environment

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