Implementation of Coordinated Complex Dynamic Behaviors in Multirobot Systems

Abstract

Decentralized control strategies for multirobot systems have been extensively studied over the past few years. Typically, these strategies aim at exploiting local interaction rules to regulate the overall state of the multirobot system toward a desired configuration, thus generating some desired coordinated behaviors, such as synchronization, swarming, deployment, or formation control. However, when considering the real-world application of multirobot systems, more complex cooperative dynamic behaviors are desirable. Along these lines, in this paper, we propose a methodology to control a multirobot system for cooperatively tracking arbitrarily defined periodic setpoint trajectories. This objective is fulfilled partitioning the multirobot system into independent robots (that can provide control inputs) and dependent robots (that are controlled through local interaction). The motion of the independent robots is then defined in such a way that, exploiting local interactions, the dependent robots are controlled to track the desired trajectories. The proposed control strategy is validated by means of simulations and experiments on real robots

Global Feedback Control for Coordinated Linear Switched Reluctance Machines Network with Full-State Observation and Internal Model Compensation

“…As one type of direct-drive linear actuators, the linear switched reluctance machine (LSRM) possesses a robust and stable machine structure, and it is more suitable for the construction of a distributed control network [4]. The arrangement of multiple LSRMs working in a coordinated manner ensures a faster processing speed since all machines can work together instead of waiting for others to finish [5].…”

Decentralized state estimation for heterogeneous multi-agent systems

“…Similarly as in [1], the networked systems are partitioned into independent robots, providing control inputs, and dependent robots, controlled through local interaction. In this paper, we propose a decentralized estimation method to let the independent robots estimate the state of the dependent robots.…”

“…As shown in [8], it is possible to model a networked system in such a way that the classical notions of controllability and observability of LTI systems are applicable. Along these lines, in [1], [9] a decentralized methodology was introduced to solve a tracking problem for networked systems. Specifically, the well known Francis' regulator equations were exploited to design a control law to make a networked system follow a predefined setpoint.…”

“…In particular, periodic setpoints were defined for each follower agent by means of an exosystem, as the linear combination of a given number of harmonics. The aforementioned control law requires feedback of the state of the dependent robots: in order to implement it in a decentralized manner, a decentralized estimation scheme was introduced in [1], [10]. In particular, this estimation scheme assumes that each independent robot has a partial knowledge of the output of the system, and that a connected communication graph exists among the independent robots.…”

Indoor multi-robot intelligent coordination based on omni-directional visible light communication

“…Recently, a series of related national strategies was launched successively throughout the world, such as the German "INDUSTRIE 4.0" plan, the American "Industry Internet" plan, and the "Made in China 2025" plan. With the wide deployment of robots in various fields, multirobot coordination (MRC) becomes a key challenge [1] . Efficient coordination depends on real-time signaling interaction, rapid data convergence, and accurate command operation, so the communication for signaling and data transmission is a basic factor for multi-robot system design.…”