Localization and follow-the-leader control of a heterogeneous group of mobile robots

Abstract

This paper investigates the control and localization of a heterogeneous (e.g., different sensing, mechanical, computational capabilities) group of mobile robots. The group considered here has several inexpensive sensor-limited and computationally limited robots, which follow a leader robot in a desired formation over long distances. This situation is similar to a search, demining, or planetary exploration situation where there are several deployable/disposable robots led by a more sophisticated leader. Specifically, the robots in this paper are designed for highway safety applications where they automatically deploy and maneuver safety barrels commonly used to control traffic in highway work zones. Complex sensing and computation are performed by the leader, while the followers perform simple operations under the leader's guidance. This architecture allows followers to be simple, inexpensive, and have minimal sensors. Theoretical and statistical analysis of a tracking-based localization method is provided. A simple follow-the-leader control method is also presented, including a method for changing follower's configuration. Experimental results of localization and follow-the-leader formation-motion are included.Index Terms-Bezier trajectory, follow-the-leader control, heterogeneous robot groups.

Finite-time consensus of heterogeneous multi-agent systems

“…Remark 4 For the simplicity of presentation, we assume that the leader is a second-order integrator agent in nonlinear consensus protocol (3). Certainly, the results are still valid for the case that the leader is a first-order integrator agent (letting v 0 be zero in Eq.…”

“…Theorem 1 Suppose that the graph G is undirected and connected, and max {1, −q} < α < 2 − q, then the heterogeneous multi-agent system (1), ( 2) can achieve a consensus in a finite time with the nonlinear consensus protocol (3).…”

“…Consensus algorithms have broad applications in the formation control of autonomous vehicles, [1] flocking, [2] and the rendezvous control of agents. [3] So far, by using the matrix theory, [4,5] the frequencydomain analysis method, [6,7] the Lyapunov direct method, etc., [8,9] consensus problems of multi-agent systems have been studied in detail, many consensus algorithms have been proposed, and the consensus criteria have been obtained for the first-order, the second-order, and the high-order multi-agent systems. However, most of the existing results are mainly given for the homogeneous multi-agent systems, in which all the agents have the same dynamics.…”

Synchronization Control of High Speed Tracked Vehicle with Hydrostatic Drive

“…To achieve the synchronization of multiple dynamic systems, the leader-following strategy [4,5] or the cross-coupling approach is usually employed. For the leader-following strategy, the slow or fast subsystems are designed as leaders, while other subsystems act as followers.…”

Steerable miniature ambulatory robot based on piezoelectric actuation with a caltrop-like structure

“…Miniature robots exhibit various benefits due to their small sizes, for examples, they are able to fit into narrow, complex, or hazardous spaces such as different pipes [1], through rubble [2,3], and even inside a human body [4]. The smaller size also means smaller weight and cost to a certain extent [5,6]. Therefore, they are widely used in biomedicine [7,8], search and rescue [9], fault inspection, military reconnaissance [10], micro mechatronics systems and so on.…”