Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots

Moshtagh, Nima; Michael, Nathan; Jadbabaie, Ali; Daniilidis, Kostas

doi:10.15607/rss.2008.iv.016

Cited by 20 publications

(20 citation statements)

References 17 publications

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“…The following two theorems [28] present the results when balanced circular formations are attained for a group of unitspeed agents with fixed connectivity graphs. Theorem 2 is for the case when G is a complete graph, and Theorem 3 is for the ring graph.…”

Section: Balanced Circular Formationsmentioning

confidence: 99%

“…Proof: See [28] for the proof. The reason for "almost global" stability of the set of balanced states is that there is a measure-zero set of states where the equilibrium is unstable.…”

Section: Balanced Circular Formationsmentioning

confidence: 99%

“…Proof: See [28] for the proof. At the equilibrium, the final configuration for G ring is a regular polygon {n/d} in which the relative angle between two connected nodes is φ o = 2πd/n.…”

Section: Balanced Circular Formationsmentioning

confidence: 99%

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Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots

et al. 2009

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In this paper, we study the problem of distributed motion coordination among a group of nonholonomic ground robots. We develop vision-based control laws for parallel and balanced circular formations using a consensus approach. The proposed control laws are distributed in the sense that they require information only from neighboring robots. Furthermore, the control laws are coordinate-free and do not rely on measurement or communication of heading information among neighbors but instead require measurements of bearing, optical flow, and time to collision, all of which can be measured using visual sensors. Collision-avoidance capabilities are added to the team members, and the effectiveness of the control laws are demonstrated on a group of mobile robots. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. Abstract-In this paper, we study the problem of distributed motion coordination among a group of nonholonomic ground robots. We develop vision-based control laws for parallel and balanced circular formations using a consensus approach. The proposed control laws are distributed in the sense that they require information only from neighboring robots. Furthermore, the control laws are coordinate-free and do not rely on measurement or communication of heading information among neighbors but instead require measurements of bearing, optical flow, and time to collision, all of which can be measured using visual sensors. Collision-avoidance capabilities are added to the team members, and the effectiveness of the control laws are demonstrated on a group of mobile robots.

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Section: Balanced Circular Formationsmentioning

confidence: 99%

“…Proof: See [28] for the proof. The reason for "almost global" stability of the set of balanced states is that there is a measure-zero set of states where the equilibrium is unstable.…”

Section: Balanced Circular Formationsmentioning

confidence: 99%

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Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots

et al. 2009

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“…Along with ranging, relative bearing is useful for solving a variety of problems in robotics like pursuitevasion [11], formation control [18], localization [5] [17], SLAM [7], and navigation [3]. Similarly in wireless sensor networks the bearing of one node relative to another has been used for localization [20] [4] [21] and topology control [13] [22].…”

Section: Introductionmentioning

confidence: 99%

Relative bearing estimation from commodity radios

Dantu

Goyal

Sukhatme

2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-Relative bearing between robots is important in applications like pursuit-evasion [11] and SLAM [7]. This is also true in in sensor networks, where the bearing of one sensor node relative to another has been used for localization Most systems use dedicated sensors like an IR array or a camera to obtain relative bearing. We study the use of radio signal strength (RSS) in commodity radios for obtaining relative bearing. We show that by using the robot's mobility, commodity radios can be used to obtain coarse relative bearing. This measurement can be used for a suite of applications that do not require very precise bearing measurement. We analyze signal strength variations in simulation and experiment. We also show an algorithm that uses this coarse bearing computation in a practical setting.

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“…Significant research effort has been expended in the control of a network of robots for achieving formations [13], coverage [11] and network topology [4], [14] etc. A basic requirement in these algorithms is that the network of robots be connected and form a graph i.e.…”

Section: Introductionmentioning

confidence: 99%

Connectivity vs. Control: Using Directional and Positional Cues to Stabilize Routing in Robot Networks

Dantu¹,

Sukhatme²

2009

Proceedings of the 2nd International Conference on Robotic Communication and Coordination

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Abstract-Various coordination algorithms have been proposed for robot networks. One of the fundamental assumptions of such algorithms is that the underlying connectivity graph be stable. Adhoc routing protocols attempt to optimize the path from source to destination and do not guarantee route stability. We bridge this gap by providing directional and locational cues to the routing protocol to provide more stable routes. We implement our ideas on Optimized Link State Routing (OLSR), a popular proactive routing protocol for robot networks. Our results show that simple directional and locational cues can achieve up to 20% fewer route switches in comparison to the basic version of OLSR.

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Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots

Cited by 20 publications

References 17 publications

Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots

Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots

Relative bearing estimation from commodity radios

Connectivity vs. Control: Using Directional and Positional Cues to Stabilize Routing in Robot Networks

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