Multi-robot formation control using distance and orientation

López-González, A.; Ferreira, Enrique; Hernández‐Martínez, Eliseo; Flores-Godoy, J.J.; Fernández‐Anaya, Guillermo; Paniagua-Contro, P.

doi:10.1080/01691864.2016.1159143

Cited by 15 publications

(9 citation statements)

References 19 publications

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“…The possible interactions between robots are represented by a communication topology which is predefined by the designer or by the proximity of the robots. The control laws require the feedback of the global position of the robots or their relative displacements, distances, and angles according to the sensor installed in the workspace or locally in the robots [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

Paniagua-Contro

Hernández‐Martínez

González-Medina

et al. 2019

Mathematical Problems in Engineering

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This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The control strategies are based on the decentralized measurements of distance and heading angles. Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches. The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology. Combining these behaviours, it is possible to make platoons of robots, as obtained from cluster space or virtual structure approaches, but now defined by local measurements and communication of robots. Numerical simulations and real-time experiments show the performance of the approach and the possibilities to be applied in multirobot tasks.

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Section: Introductionmentioning

confidence: 99%

Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

Paniagua-Contro

Hernández‐Martínez

González-Medina

et al. 2019

Mathematical Problems in Engineering

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“…Definition 1 (see Lopez-Gonzalez et al [13]). Define an Attractive-Repulsive Distance-based Potential Function (ARD-PF)…”

Section: Distance-based Control Strategymentioning

confidence: 99%

“…The set = { }, ∀( , ) ∈ , contains the desired distances between and ; that is, ‖ − ‖ = ∈ R, ∀ ̸ = , ∈ within a desired formation pattern [13].…”

Section: Problem Definitionmentioning

confidence: 99%

“…Experimental work is found in Fidan et al [11] using local video cameras and Antonelli et al [12] with laser range finder devices. Our previous contributions in DFC are in Lopez-Gonzalez et al [13] for a distance-orientation scheme, Ferreira-Vazquez et al [14] adding desired internal angles in the formation pattern to compensate for the flip ambiguity problem, and Ferreira-Vazquez et al [15] using planar as well as volume constraints for DFC in 3D. A recent paper by Anderson et al [16] makes a detailed convergence analysis of DFC with signed area constraints using standard 2 Complexity potential functions.…”

Section: Introductionmentioning

confidence: 99%

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Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints

et al. 2017

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This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.

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“…turn left/right). In formation control application domain, Lopez-Gonzalez et al (2016) proposes a formation scheme, based on Lyapunov techniques, if the orientation and distance information for each robot is available locally.…”

Section: Control Structurementioning

confidence: 99%

Investigation into Swarm-based Cooperative Behaviour in Execution of Open Field Agricultural Tasks

Janani¹

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Because of the significant drop in the number of farmers and increase in the earth population, the use of autonomous farming units including unmanned tractors is becoming more and more popular. However, relying on a single autonomous farming unit to carry out the entire task on a large field is inefficient. Using multiple autonomous tractors bring more efficiency, however, without cooperation this attempt will fail (Mataric et al., 1995). This cooperation can be achieved by an appropriate task allocation and coordination mechanism between the participating units. The current trend in this field is to use direct forms of communication in any form of directional or broadcasting meaningful messages among the group. The messages I would like to, firstly, thank my wife who supported me through thick and thin in this journey. I couldn't complete this program without her support and patience. My gratitude goes to my Director of Studies, Prof. Jacques Penders, for his continued invaluable support, advice and guidance and with whom my robotic life began. I am also grateful to Dr Lyuba Alboul, my Doctoral supervisor, who challenged my thinking and made me realise the importance of each small achievement. Both of you have been inspirational and this journey would not have been possible without you. Finally, I would like thank my sister and parents, who also supported me in this journey.

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Multi-robot formation control using distance and orientation

Cited by 15 publications

References 19 publications

Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints

Investigation into Swarm-based Cooperative Behaviour in Execution of Open Field Agricultural Tasks

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