Formation Control of Multiple Mobile Robots with Large Obstacle Avoidance

Fujimori, A.; Hosono, Atsushi; Takahashi, Kazuro; Oh-Hara, Shinsuke

doi:10.1109/icarcv.2018.8581326

Cited by 4 publications

(12 citation statements)

References 6 publications

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“…A formation based methodology to control mobile robots and to avoid large obstacle is presented by (A. Fujimori et al, 2018). The formation is constructed using sonars.…”

Section: Literature Reviewmentioning

confidence: 99%

An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots

Jain

Ibeke

Agrawal³

2021

IJESMS

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Networked Control System (NCS) consists of controlled distributed nodes while an Orchestrator functions as a central coordinator for controlling the distributed tasks. The NCSs have challenges of coordination and right execution sequencing of operations. This paper proposes a framework named Controlled Orchestrator (COrch) for coordinating and sequencing the tasks of NCSs. An experiment was performed with three robotic vehicles that are considered as individual control system. Furthermore, the proposed orchestrator COrch decided the sequencing of operations of the robots while performing obstacle avoidance task for spatially distributed robots in parallel. COrch is used to control this task by utilizing the concept of Remote Method Invocation (RMI) and multithreading. RMI is used to prepare the software for controlling the robots at remote end while multithreading is used to perform parallel and synchronize execution of multiple robots. The remote end software generates signals for sequential ,parallel and hybrid mode execution.

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“…A formation based methodology to control mobile robots and to avoid large obstacle is presented by (A. Fujimori et al, 2018). The formation is constructed using sonars.…”

Section: Literature Reviewmentioning

confidence: 99%

An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots

Jain

Ibeke

Agrawal³

2021

IJESMS

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“…The authors have been studying various subjects in the formation control by the leader-follower method using mobile robots with multiple sonar sensors which are described as follows [19]- [24]. Generally, since the formation control law based on the dynamic inversion [25] included the states of both leader and follower [14]- [16], the follower needed means for obtaining the state of the leader to implement the control law on real mobile robots.…”

Section: Introductionmentioning

confidence: 99%

“…The SMI did not need any communication means between the mobile robots and improved the applicability of the leaderfollower method. We also studied formation control in obstacle scattered environments [21]- [24]. In these studies, multiple sonars were adaptively used for two purposes: leader tracking for formation control and obstacle detection to avoid collision with obstacles.…”

Section: Introductionmentioning

confidence: 99%

Formation shape transition of multiple mobile robots in leader-follower method

Fujimori

2022

The Proceedings of Mechanical Engineering Congress, Japan

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This paper presents a formation shape transition technique of multiple mobile robots in the leader-follower method as a new function that gives flexibility to the formation control of mobile robots with multiple sonars. First, we propose basic shape transition methods for the case of two mobile robots under formation control by the leader-follower method, and then extend the methods to the shape transition of three mobile robots. Since the multiple sonars attached to the mobile robot are located forward, including the left and right sides, there is a constraint on the formation shape feasible by the leaderfollower method. In the case of two mobile robots, the follower must be positioned behind the leader. Therefore, there are three shapes of the follower relative to the leader: line, right-back, left-back. In the case of three mobile robots, three types of line, zigzag, triangle shapes are considered. The effectiveness of the proposed technique is demonstrated by experiments using real mobile robots.

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“…The formation control was then realized while avoiding obstacles even in the presence of obstacles [21], [22]. Furthermore, we developed a formation control method for large obstacle avoidance in which modules reinforced for the avoidance were introduced [23], [24].…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we call this function "shape transition". In the formation control with large obstacle avoidance described above, an algorithm was proposed in which the local part of the shape was temporarily changed to a shape that easily avoided obstacles and then returned to the original shape [23], [24]. It may also be desirable from the practical point of view to change the formation shape to reconstruct a formation by adding or removing mobile robots forming the formation.…”

Section: Introductionmentioning

confidence: 99%

Formation shape transition of multiple mobile robots in leader-follower method

Fujimori

Oh-kiri

Oh-Hara

2021

IJRA

Self Cite

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<p>This paper presents a formation shape transition technique of multiple mobile robots in the leader-follower method as a new function that gives flexibility to the formation control of mobile robots with multiple sonars. First, we propose basic shape transition methods for the case of two mobile robots under formation control by the leader-follower method, and then extend the methods to the shape transition of three mobile robots. Since the multiple sonars attached to the mobile robot are located forward, including the left and right sides, there is a constraint on the formation shape feasible by the leader - follower method. In the case of two mobile robots, the follower must be positioned behind the leader. Therefore, there are three shapes of the follower relative to the leader: line, right-back, left-back. In the case of three mobile robots, t hree types of line, zigzag, triangle shapes are considered. The effectiveness of the proposed technique is demonstrated by experiments using real mobile robots.</p>

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Formation Control of Multiple Mobile Robots with Large Obstacle Avoidance

Cited by 4 publications

References 6 publications

An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots

An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots

Formation shape transition of multiple mobile robots in leader-follower method

Formation shape transition of multiple mobile robots in leader-follower method

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