Distributed Formation with Diffusive Obstacle Avoidance Control in Coordinated Mobile Robots

Chan, Nelson P. K.; Jayawardhana, Bayu; Scherpen, Jacquelien M.A.

doi:10.1109/cdc.2018.8619487

Cited by 6 publications

(8 citation statements)

References 14 publications

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“…The local exponential stability analyses are provided along with numerical simulation results using nonlinear heterogeneous pHDAE systems. For future works, we will consider the incorporation of obstacles and collision avoidance [27], [28], and the safety analysis of the closed-loop systems [29].…”

Section: Discussionmentioning

confidence: 99%

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space

Rosa

Jayawardhana

2023

IEEE Control Syst. Lett.

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We propose distance-based distributed adaptive formation control of point mass agents in port-Hamiltonian (pH) framework that can deal with parameter uncertainties and with mixed dimensional space (2D, 3D or mixed 2D/3D). Adaptive control mechanism is subsequently proposed to maintain formation of uncertain pH systems with unknown damping parameters. Numerical simulations are presented for both known and uncertain point mass agents in mixed 2D/3D space.

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Section: Discussionmentioning

confidence: 99%

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space

Rosa

Jayawardhana

2023

IEEE Control Syst. Lett.

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“…By using distributed control law described in (6) and incorporating the 2 disturbance, then time-derivative of satisfies…”

Section: Assumption 3 the Communication Graph  Is An Undirected Conn...mentioning

confidence: 99%

“…For instance, it is well-known that without a proper compensation, a formation shape can be distorted when the obstacle avoidance is active (see, e.g. Chen, Jayawardhana & Scherpen 6 ). This problem can be exacerbated when some agents are not aware of the presence of moving reference objects that are detected by other agents.…”

Section: Introductionmentioning

confidence: 99%

“…A distributed control law for rigid formation was proposed in De Marina, Jayawardhana & Cao 12 , which allows the agents to achieve formation and group motion simultaneously. A distributed control law for achieving formation while avoiding obstacles for a group of agents was introduced in Chan, Jayawardhana & Scherpen 6 . All these works on formation control assume that the required local relative measurement or global position information are readily available to each robot.…”

Section: Introductionmentioning

confidence: 99%

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Maintaining and steering a formation in an unknown dynamic environment via a consistent distributed dynamic map

Guo,

Jayawardhana,

Lee

et al. 2024

Intl J Robust & Nonlinear

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In this paper, we study the problem of maintaining a stable mobile robot formation, steering and localizing all robots in an unknown dynamic environment consisting of multiple periodically moving objects, without the presence of a global positioning system or a robot tracking system. We propose a distributed observer such that each agent can estimate global positions of all mobile robots and that of moving landmarks in an unknown environment. By combining the proposed distributed observer with the distributed formation control and centroid tracking control law, we show that the formation shape can be maintained by utilizing its available relative measurements and the estimated relative measurements to its neighbors, and the group's centroid follows a desired trajectory. We present stability analysis of the closed‐loop system. Finally, we validate the proposed methods in a simulation result where a group of mobile robots can maintain a robust formation and maneuver in an unknown dynamic environment.

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“…The work of Hector Garcia de Marina is supported by the grant Ramon y Cajal RYC2020-030090-I from the Spanish Ministry of Science. [15] [16]. For the multiple-task distributed control design, the incorporation of constraints has been sought in [14] for nonholonomic and velocity saturation constraints.…”

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confidence: 99%

Distance-based Formation-Motion Control for Unicycle Agents

Chen

Jayawardhana

Marina

2023

2023 American Control Conference (ACC)

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We present a distance-based distributed formation-motion control law for unicycle agents that are required to move together at a constant reference speed. The distributed control law consists of the standard distancebased formation gradient control law, which is projected to the longitudinal and angular velocity inputs of the unicycle, and of a linear term that depends on the reference speed. The main contribution of this paper is to realize the consistency of unicycle agents' orientations without orientation measurement, thereby reducing the possibility of significant orientation measurement errors in real-world applications. We prove and show numerically the local exponential convergence of the unicycle agents to the desired formation, where they eventually move in unison at a constant reference speed. I. INTRODUCTIONDue to the multitude of problem setups in distributed formation control, there has been numerous research works reported in literature for the past decade. Most of them considers only the formation keeping problem for point masses described by single integrator [1], where the graph rigidity framework [2] [3] [4] has been used to define the formation shape and correspondingly to design the distributed gradient-based control laws. By assuming that all agents are equipped with homogeneous sensor systems, the application of distributed gradient-based control leads to the popular distance-based formation control [5] [6], the bearing-only formation control [7], the angle-based formation control [8], the inner-angle based formation control [9] and the elevationangle formation control [10]. For second-order agents, the design of formation control has been studied in [11] [12]. Recently, the distributed formation control for unicycle agents is presented in [13] [14] where the authors focus on the convergence of the agents towards the desired shape without consensus on the orientation and without enabling a group motion. The latter is typically one of the need-to-have tasks required in a group of collaborating agents.In addition to reaching and maintaining a robust formation shape, the group may need to perform other tasks, such as group motion, obstacle avoidance or rendezvous, at the same time. The design of distributed control laws to solve these tasks simultaneously has been studied, for example, in *This work is supported by Center of Expertise Flexible Manufacturing Systems.

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Distributed Formation with Diffusive Obstacle Avoidance Control in Coordinated Mobile Robots

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Cited by 6 publications

References 14 publications

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space

Maintaining and steering a formation in an unknown dynamic environment via a consistent distributed dynamic map

Distance-based Formation-Motion Control for Unicycle Agents

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