Guaranteed estimation and distributed control of vehicle formations

García, Ramón Albajes; Orihuela, Luis; Millán, Pablo; Rubio, Francisco; Ortega, Manuel G.

doi:10.1080/00207179.2020.1714074

Cited by 13 publications

(8 citation statements)

References 53 publications

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“…Furthermore, there exist different techniques to coordinate mobile robots, v.g. distributed optimization [11], distributed estimation and control [2], [12]- [14], distributed formation [15]- [18], and the use of neural networks [19], [20].…”

Section: Introductionmentioning

confidence: 99%

Coordination of a Swarm of Unicycle Robots via First-Order Dynamic Couplings

2022

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Coordination of multi-agent systems is an active and ongoing research topic. In particular, there exist several coordination strategies for multi-agent systems, in which the interaction between the agents is via static couplings, i.e. couplings that are constructed using static feedback. In contrast, this paper presents a novel coordination strategy, which introduces the use of dynamic couplings to coordinate a group of unicycle robots following a desired trajectory. The proposed control-scheme is composed by a nonlinear tracking controller and a first-order dynamic coupling. One advantage of this scheme is that, with respect to an energy index, the energy required by the dynamic coupling to perform a cooperative task is lower than the energy required by a traditional scheme based on static coupling. The stability of the closed-loop system is formally demonstrated by using the Lyapunov theory and the obtained theoretical results are illustrated with numerical simulations and validated through experiments. Also, a comparison of the proposed strategy against a coordination scheme reported in the literature, which is based on traditional static coupling, is provided. The results show that the proposed scheme has some practical implications, including reduction of the steady state error and reduced overshoot during the transient.

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Section: Introductionmentioning

confidence: 99%

Coordination of a Swarm of Unicycle Robots via First-Order Dynamic Couplings

2022

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“…Such estimators have intuitive geometric processing in that they intersect the set of states consistent with the model and the set consistent with the measurements to obtain the corrected state set [12]. The estimated set can be mathematically characterized as ellipsoid [13]- [16] or zonotopes [12], [17]. The suitable choice is application dependent.…”

Section: Introductionmentioning

confidence: 99%

“…The suitable choice is application dependent. Set-membership estimators are used in many applications such as fault detection [18], [19], underwater robotics [16], [20], ground vehicles [21], multiagent systems [13], [15], [17], [22], and localization [23]. Self-localization has been considered by many researchers, for autonomous robots [24], drones [14], and other vehi-arXiv:2103.01791v1 [eess.SY] 2 Mar 2021 cles [25].…”

Section: Introductionmentioning

confidence: 99%

Set-Membership Estimation in Shared Situational Awareness for Automated Vehicles in Occluded Scenarios

Narri

Alanwar

Mårtensson

et al. 2021

2021 IEEE Intelligent Vehicles Symposium (IV)

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One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited to the information gathered by the sensors mounted on the ego-vehicle, and it might be severely affected by occlusion caused by other vehicles or fixed obstacles along the road. Situational awareness is the ability to perceive and comprehend a traffic situation and to predict the intent of vehicles and road users in the surrounding of the ego-vehicle. The main objective of this paper is to propose a framework for how to automatically increase the situational awareness for an automatic bus in a realistic scenario when a pedestrian behind a parked truck might decide to walk across the road. Depending on the ego-vehicle's ability to fuse information from sensors in other vehicles or in the infrastructure, shared situational awareness is developed using a set-based estimation technique that provides robust guarantees for the location of the pedestrian. A two-level information fusion architecture is adopted, where sensor measurements are fused locally, and then the corresponding estimates are shared between vehicles and units in the infrastructure. Thanks to the provided safety guarantees, it is possible to appropriately adjust the ego-vehicle speed to maintain a proper safety margin. It is also argued that the framework is suitable for handling sensor failures and false detections in a systematic way. Three scenarios of growing information complexity are considered throughout the study. Simulations show how the increased situational awareness allows the ego-vehicle to maintain a reasonable speed without sacrificing safety.

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“…Multi-agent networked systems composed of several interacting subsystems and multiple control units have attracted considerable interest in recent years due to their association with a broad spectrum of applications (García et al, 2020;Manfredi & Tucci, 2017;Vlahakis et al, 2019). For reasons related to complexity, robustness, reliability and effectiveness of communications, distributed control has emerged as the dominant design methodology in this domain (Esfahani & Khorasani, 2016;Franzè et al, 2018;Scattolini, 2009;Vlahakis et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Model-matching methods and distributed control of networks consisting of a class of heterogeneous dynamic agents

Vlahakis

Halikias

2021

International Journal of Control

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Many recent results on distributed control of multi-agent networks rely on a number of simplifying assumptions that facilitate the solution of regulation problems associated with large-scale networked systems. Identical subsystem models are a typical assumption made in networked control systems which often fail in practice. In this paper, we propose a systematic method for removing this assumption, leading to a general approach to distributed-control design for stabilising networks of multiple non-identical dynamic agents. Local subsystems represented as autonomous dynamic agents are assumed to share a set of structural properties, (controllability) indices. Our approach relies on the solution of certain model-matching type problems using local state-feedback and state/input-matrix transformations that map local dynamics to a target system, selected to minimise joint control effort. By adapting well-established distributed LQR control design methodologies to our framework, the stabilisation problem of networks of non-identical dynamic agents is solved. The applicability of our approach is illustrated via a synchronisation example of eleven harmonic oscillators with non-identical dynamics communicating over a connected graph.

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Guaranteed estimation and distributed control of vehicle formations

Abstract: To cite this publication, please use the final published version (if applicable). Please check the document version above.

Cited by 13 publications

References 53 publications

Coordination of a Swarm of Unicycle Robots via First-Order Dynamic Couplings

Coordination of a Swarm of Unicycle Robots via First-Order Dynamic Couplings

Set-Membership Estimation in Shared Situational Awareness for Automated Vehicles in Occluded Scenarios

Model-matching methods and distributed control of networks consisting of a class of heterogeneous dynamic agents

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