Leader-follower formation control of nonholonomic wheeled mobile robots using only position measurements

Poonawala, Hasan A.; Satici, Aykut C.; Spong, Mark W.

doi:10.1109/ascc.2013.6606313

Cited by 23 publications

(18 citation statements)

References 11 publications

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“…The leader–follower [ 3 , 4 , 5 , 6 ] is a distributed control method in which a specific robot does not manage all the control factors. It assigns a unique name to each robot in the swarm for identification.…”

Section: Related Researchmentioning

confidence: 99%

Middleware Design for Swarm-Driving Robots Accompanying Humans

Kim

Kang

2017

Sensors

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Abstract:Research on robots that accompany humans is being continuously studied. The Pet-Bot provides walking-assistance and object-carrying services without any specific controls through interaction between the robot and the human in real time. However, with Pet-Bot, there is a limit to the number of robots a user can use. If this limit is overcome, the Pet-Bot can provide services in more areas. Therefore, in this study, we propose a swarm-driving middleware design adopting the concept of a swarm, which provides effective parallel movement to allow multiple human-accompanying robots to accomplish a common purpose. The functions of middleware divide into three parts: a sequence manager for swarm process, a messaging manager, and a relative-location identification manager. This middleware processes the sequence of swarm-process of robots in the swarm through message exchanging using radio frequency (RF) communication of an IEEE 802.15.4 MAC protocol and manages an infrared (IR) communication module identifying relative location with IR signal strength. The swarm in this study is composed of the master interacting with the user and the slaves having no interaction with the user. This composition is intended to control the overall swarm in synchronization with the user activity, which is difficult to predict. We evaluate the accuracy of the relative-location estimation using IR communication, the response time of the slaves to a change in user activity, and the time to organize a network according to the number of slaves.

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Section: Related Researchmentioning

confidence: 99%

Middleware Design for Swarm-Driving Robots Accompanying Humans

Kim

Kang

2017

Sensors

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“…Leader-follower synchronization has been used for formation control of fully and under-actuated vehicles in Peng et al (2012); Poonawala et al (2013); Breivik et al (2008a); Dasdemir and Loría (2014); Belleter and Pettersen (2015). In Breivik et al (2008a), the authors deal with formation control for fully actuated marine vessels using a leader-follower approach.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Source Seeking with Leader-Follower Formation Control∗∗This work was supported by the Research Council of Norway through the Centres of Excellence funding scheme, Project numbe 223254 - AMOS.

2015

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In this paper a source seeking method for multi-agent systems consisting of autonomous surface vessels (ASVs) or autonomous underwater vehicles (AUVs) is proposed. The desired heading for the leader, and thus the desired heading for the group, is adapted based on gradient information from the field. That is, an initial given trajectory is assigned to the leader. Then using scalar measurements from each agent the approximated gradient of the field is used to compute the direction towards the source. The initial and computed heading are weighted with a parameter that depends on the intensity of the source's signal. If the signal exceeds a given threshold, the agents move towards the source. During source seeking a desired formation is achieved and maintained using leader-follower synchronization controllers. A case study is presented and discussed to illustrate the approach.

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“…The goal of multi-robot formation control is to maintain a specified geometrical shape of a group of robots by adjusting the pose (positions and orientations) of robots [6], which generally follows the process of forming, maintaining, and switching of formation. The current research on the multi-robot formation mainly focuses on formation control theory [7][8][9], while some research lacks physical experimental realization to validate their theories and algorithms for having no available experimental testbed, especially a general and low-cost indoor multi-robot formation experimental platform.…”

Section: Introductionmentioning

confidence: 99%

A Multi-Robot Formation Platform based on an Indoor Global Positioning System

et al. 2019

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Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

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Leader-follower formation control of nonholonomic wheeled mobile robots using only position measurements

Cited by 23 publications

References 11 publications

Middleware Design for Swarm-Driving Robots Accompanying Humans

Middleware Design for Swarm-Driving Robots Accompanying Humans

Adaptive Source Seeking with Leader-Follower Formation Control∗∗This work was supported by the Research Council of Norway through the Centres of Excellence funding scheme, Project numbe 223254 - AMOS.

A Multi-Robot Formation Platform based on an Indoor Global Positioning System

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