Hierarchical hybrid control for Multiple Mobile Robot Systems

Roszkowska, Elzbieta; Dulewicz, Piotr; Janiec, Lukasz

doi:10.1016/j.ifacol.2019.08.093

Cited by 8 publications

(2 citation statements)

References 11 publications

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“…La formación de robots consiste en establecer el movimiento de un grupo de robots para que lleven a cabo una tarea específica de una manera coordinada o colaborativa [1]- [4]. Recientemente este problema ha atraído significativamente la atención de la comunidad científica por las aplicaciones complejas que se pueden resolver usando más de un robot [5]- [8].…”

Section: Introductionunclassified

Coordinación De Dos Robots Móviles Terrestres en Formación Líder-Seguidor Con Evasión De Obstáculos

Mata-Machuca¹,

Ortega²,

Toro-Sandoval³

2022

JER

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Section: Introductionunclassified

Coordinación De Dos Robots Móviles Terrestres en Formación Líder-Seguidor Con Evasión De Obstáculos

Mata-Machuca¹,

Ortega²,

Toro-Sandoval³

2022

JER

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“…Compared with the single mobile robot system (SMRS), multiple mobile robot system (MMRS) has more advantages, including parallelism, efficiency, flexibility and robustness, especially when facing complex tasks [1][2]. Thus, MMRS is becoming the research focus and trend of robotics [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

An A2CL Algorithm based on Information Optimization Strategy for MMRS

Dong¹,

Li²,

Sun³

et al. 2020

KSII TIIS

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Multiple Mobile Robots System (MMRS) has shown many attractive features in lots of real-world applications that motivate their rapid and wide diffusion. In MMRS, the Cooperative Localization (CL) is the basis and premise of its high-performance task. However, the statistical characteristics of the system noise should be already known in traditional CL algorithms, which is difficult to satisfy in actual MMRS because of the numerous of disturbances form the complex external environment. So the CL accuracy will be reduced. To solve this problem, an improved Adaptive Active Cooperative Localization (A 2 CL) algorithm based on information optimization strategy for MMRS is proposed in this manuscript. In this manuscript, an adaptive information fusion algorithm based on the variance component estimation under Extended Kalman filter (VCEKF) method for MMRS is introduced firstly to enhance the robustness and accuracy of information fusion by estimating the covariance matrix of the system noise or observation noise in real time. Besides, to decrease the effect of observation uncertainty on CL accuracy further, an observation optimization strategy based on information theory, the Model Predictive Control (MPC) strategy, is used here to maximize the information amount from observations. And semi-physical simulation experiments were carried out to verity the A 2 CL algorithm's performance finally. Results proved that the presented A 2 CL algorithm based on information optimization strategy for MMRS cannot only enhance the CL accuracy effectively but also have good robustness.

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Analytical Solution for the Fixed-Path Coordination of Two Mobile Robots

Jakubiak

2022

Controlo 2022

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Hierarchical hybrid control for Multiple Mobile Robot Systems

Cited by 8 publications

References 11 publications

Coordinación De Dos Robots Móviles Terrestres en Formación Líder-Seguidor Con Evasión De Obstáculos

Coordinación De Dos Robots Móviles Terrestres en Formación Líder-Seguidor Con Evasión De Obstáculos

An A2CL Algorithm based on Information Optimization Strategy for MMRS

Analytical Solution for the Fixed-Path Coordination of Two Mobile Robots

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