Coordinated motion for multi-robot systems under time varying communication topologies

Secchi, Cristian; Lotti, Marco; Fantuzzi, Cesare

doi:10.1109/icra.2016.7487735

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…Several methods have used leader and follower models to navigate a multi-robot system. By controlling the movements of a number of robots, the overall behavior of the system was influenced [22]. A single leader was utilized in [23], basing its movements on influencing nearby naive agents to follow it to goal positions.…”

Section: Related Work a Multi-robot Maneuvermentioning

confidence: 99%

Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games

Reily,

Mott,

Zhang

2020

Preprint

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Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized manner, with individual robot team members being capable of acting without explicit communication between neighbors. In this paper, we propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots estimate the behavior of their local teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions. We prove theoretically that generated actions approach a Nash equilibrium, which also corresponds to an optimal strategy identified for each robot. We show through simulations that our approach enables decentralized and communication-free navigation by a multi-robot system to a goal position, avoiding obstacles and collisions, while also maintaining connectivity.

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Section: Related Work a Multi-robot Maneuvermentioning

confidence: 99%

Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games

Reily,

Mott,

Zhang

2020

Preprint

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Multi-robot systems implementing complex behaviors under time-varying topologies

Secchi

Fantuzzi

2017

European Journal of Control

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Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance

Secchi

Fantuzzi

2017

IEEE Trans. Cybern.

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In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots solve a tracking problem, that is following arbitrarily defined setpoint trajectories, in a coordinated manner. The control strategy proposed in this paper explicitly addresses the collision avoidance problem, utilizing a null space-based behavioral approach: this leads to combining, in a non conflicting manner, the tracking control law with a collision avoidance strategy. The combination of these control actions allows the robots to execute their task in a safe way. Avoidance of collisions is formally proven in this paper, and the proposed methodology is validated by means of simulations and experiments on real robots.

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Coordinated motion for multi-robot systems under time varying communication topologies

Cited by 3 publications

References 16 publications

Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games

Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games

Multi-robot systems implementing complex behaviors under time-varying topologies

Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance

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