Minimal persistence control on dynamic directed graphs for multi-robot formation

Wang, Hua; Guo, Yi

doi:10.1109/icra.2012.6224730

Cited by 2 publications

(1 citation statement)

References 14 publications

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“…The formation and hunting of the multirobot system have been extensively researched as formations applications received increasing attention [9][10][11][12]. Researches on formation are also biologically-inspired [13,14].…”

Section: Multirobot Cooperative Pursuitmentioning

confidence: 99%

Multiagent Robot Systems

Yang

2016

Advanced Technologies in Modern Robotic Applications

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In this chapter, we will first give an introduction of multiagent systems, which can serve as abstraction or simplified models for vast real-life complex systems, where local interactions among agents lead to complex global behaviors such as coordination, synchronization, formation, and so on. Then, as simple yet nontrivial examples of cooperation among robots, two typical cases of three-robot line formations are investigated and illustrated in a general mathematical framework of optimal multirobot formation. The robots moving with different speeds are expected to row on one straight line with the minimum formation time, so that the formation can be formulated in the most efficient way. Next, we investigate the hunting issue of a multirobot system in a dynamic environment. The proposed geometry-based strategy has the advantages of fast calculation and can be applied to three-dimensional space easily. At the end of the chapter, we investigate a few important problems in multirobot cooperative lifting control, and present an simulation study showing an example of four arms lifting one desk.

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Section: Multirobot Cooperative Pursuitmentioning

confidence: 99%

Multiagent Robot Systems

Yang

2016

Advanced Technologies in Modern Robotic Applications

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Minimally Persistent Graph Generation and Formation Control for Multi-Robot Systems under Sensing Constraints

et al. 2023

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This paper presents a minimally persistent graph generation and formation control strategy for multi-robot systems with sensing constraints. Specifically, each robot has a limited field of view (FOV) and range sensing capability. To tackle this problem, one needs to construct an appropriate interaction topology, namely assign neighbors to each robot such that all their sensing constraints are satisfied. In addition, as a stringent yet reasonable guarantee for the visual constraints, it is also required that the prescribed neighbors always stay within its visual field during the formation evolution. To this end, given a set of feasible initial positions, we first present a depth-first-search (DFS)-based algorithm to generate a minimally persistent graph, which encodes the sensing constraints via its directed edges. Then, based on the resultant graph, by invoking the gradient-based control technique and control barrier function (CBF), we propose a class of distributed formation control laws, rendering not only the convergence to the desired formation but also the satisfaction of sensing constraints. Simulation and experimental results are presented to verify the effectiveness of the proposed approach.

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Minimal persistence control on dynamic directed graphs for multi-robot formation

Cited by 2 publications

References 14 publications

Multiagent Robot Systems

Multiagent Robot Systems

Minimally Persistent Graph Generation and Formation Control for Multi-Robot Systems under Sensing Constraints

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