Autonomous Decentralized Control for Formation of Multiple Mobile Robots Considering Ability of Robot

Takahashi, H.; Nishi, Hiroaki; Ohnishi, Kouhei

doi:10.1109/tie.2004.837848

Cited by 102 publications

(39 citation statements)

References 14 publications

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“…Differentiating twice h ik yields an equation similar to (8). Nevertheless, the configuration h ik is computationally more difficult to estimate than h ik [14].…”

Section: A Leader-follower Schemementioning

confidence: 99%

Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

Defoort

Floquet

Kokosy

et al. 2008

IEEE Trans. Ind. Electron.

316

160

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Abstract-This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed for asymptotically stabilizing the vehicles to a timevarying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables formation stabilization using a vision system carried by the followers and ensures the collision avoidance from the initial time instance. Experimental investigation has been conducted using a test bench made of three nonholonomic mobile robots in order to demonstrate the effectiveness of the proposed strategy.

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“…Differentiating twice h ik yields an equation similar to (8). Nevertheless, the configuration h ik is computationally more difficult to estimate than h ik [14].…”

Section: A Leader-follower Schemementioning

confidence: 99%

Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

Defoort

Floquet

Kokosy

et al. 2008

IEEE Trans. Ind. Electron.

316

160

View full text Add to dashboard Cite

show abstract

“…Research in the field of multirobot systems has resulted in a number of canonical task domains, such as box-pushing [13], formation control [14,15] and foraging [16]. This chapter presents three typical collaboration tasks carried out by multiple autonomous robotic fish.…”

Section: Introductionmentioning

confidence: 99%

Multiple Autonomous Robotic Fish Collaboration

Xie

Wang

2015

Springer Tracts in Mechanical Engineering

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Most of previous work on multiple robots collaboration is focused on terrestrial robots and seldom deals with underwater applications due to the uncertainties and complexity in a hydroenvironment. In this chapter, three typical collaboration problems with multiple autonomous robotic fish are investigated. The three problems includes target tracking and collision avoidance, formation control, and cooperative transportation. For the first problem, a situated-behavior-based decentralized control is employed on each robotic fish according to its visual data. On dealing with motion planning of the fish during target tracking and collision avoidance, a control law by a combination of an attractive force toward a target and a repulsive force for collision avoidance is utilized. For the formation control problem, leader-following based framework is adopted. Each follower robot estimates the position and orientation angle of its leader with a fast color-tracking vision system, and establishes a Bezier trajectory between its current position and the position of its leader robot. For the cooperative transportation problem, an underwater box-pushing task is designed in which three autonomous robotic fish that sense, plan and act on its own move an elongated box from some initial location to a goal location. The whole task is decomposed into three subtasks and assigned to capable robotic fish. The robotic fish coordinate through explicit communications and distribute the subtasks with a market-based dynamic task allocation method.

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“…Because of the intrinsic unreliability of centralized methods, we focus our attention to distributed ones: all the agents are equal, and if one of them stops working, the other ones can still complete their task. Several formation control strategies can be found as potential �elds [8], behaviorbased [13], leader-following [14][15][16], graph-theoretic [12], and virtual structure approaches [17,18].…”

Section: Introductionmentioning

confidence: 99%

“…In recent years, some methods based on potential �elds are integrated with some nonlinear control schemes such as feedback linearization method (e.g., Sliding Mode Control (SMC)), which concludes in more robust formation control designs of dynamic agents [15][16][17][18]. For example, Takahashi et al [15] proposed an SMC-based formation control scheme for multiple mobile robots, using the leaderfollowing strategy, in which they de�ned some performance 2 ISRN Robotics indexes, so that robots can be controlled according to their ability.…”

Section: Introductionmentioning

confidence: 99%

“…For example, Takahashi et al [15] proposed an SMC-based formation control scheme for multiple mobile robots, using the leaderfollowing strategy, in which they de�ned some performance 2 ISRN Robotics indexes, so that robots can be controlled according to their ability. Defoort et al [16] also developed a robust coordinated control scheme based on leader-follower approach to achieve formation maneuvers.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Adaptive -Based Formation Control for Multirobot Systems

2013

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We describe a decentralized formation problem for multiple robots, where an ∞ formation controller is proposed. e network of dynamic agents with external disturbances and uncertainties are discussed in formation problems. We �rst describe how to design social potential �elds to obtain a formation with the shape of a polygon. en, we provide a formal proof of the asymptotic stability of the system, based on the de�nition of a proper Lyapunov function and ∞ technique. e advantages of the proposed controller can be listed as robustness to input nonlinearity, external disturbances, and model uncertainties, while applicability on a group of any autonomous systems with -degrees of freedom. Finally, simulation results are demonstrated for a multiagent formation problem of a group of six robots, illustrating the effective attenuation of approximation error and external disturbances, even in the case of agent failure or leader tracking.

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Autonomous Decentralized Control for Formation of Multiple Mobile Robots Considering Ability of Robot

Cited by 102 publications

References 14 publications

Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

Multiple Autonomous Robotic Fish Collaboration

An Adaptive -Based Formation Control for Multirobot Systems

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