Multi-robot systems implementing complex behaviors under time-varying topologies

Secchi, Cristian; Fantuzzi, Cesare

doi:10.1016/j.ejcon.2017.08.006

Cited by 4 publications

(1 citation statement)

References 47 publications

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“…Multi-robot systems (MRSs) are an active research field of robotic applications, where multiple robots are used for cooperative tasks, and they are able to achieve a common objective by means of local objectives within a shared environment (Sabattini et al 2017).…”

Section: Introductionmentioning

confidence: 99%

Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality

Almeida

Nakashima

Neves-Jr

et al. 2020

J Control Autom Electr Syst

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This paper presents a robotic navigation system that uses mixed reality concepts to develop sensing and communication virtual devices, based on the visual localization of the robot in the environment. The main objective of the navigation system is to provide conditions for the use of very simple robots with severe limitations on the mentioned peripheral devices for simulation, analysis and test of multi-robot applications. In an experiment with real robots, each one receives its virtual navigation skills in an independent way from the tool that emulates the function of such peripherals. Thus, the behavior of a group of robots, independently commanded, is implemented in the virtual environment and accomplished in the real world. An experiment composed by real multiple Sphero robots executing an exploratory task within an unknown dynamic environment is carried out to validate the proposed navigation system. The use of mixed reality concepts allows an easy implementation of cooperation mechanisms based on indirect communication skill and fuzzy controllers for the robots' movement. The results confirm the feasibility of the proposed autonomous navigation system.

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Section: Introductionmentioning

confidence: 99%

Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality

Almeida

Nakashima

Neves-Jr

et al. 2020

J Control Autom Electr Syst

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Distributed Cooperative Control of Heterogeneous Multiagent Systems for Air‐to‐Ground Formation

Mu,

Yao,

Yang

et al. 2024

Journal of Field Robotics

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This paper is concerned with a distributed cooperative formation problem for a heterogeneous multiagent system with a car‐like mobile robot, a quadrotor, and an omnidirectional wheeled mobile robot. In the heterogeneous multiagent system, a three‐layer distributed cooperative formation control strategy is constructed to achieve air‐to‐ground formation, the car‐like mobile robot tracks a virtual leader, the quadrotor, and the omnidirectional wheeled mobile robot track the car‐like mobile robot. Two nonlinear leader‐follower controllers based on exponential virtual control laws are designed to maintain formation for the quadrotor and the omnidirectional wheeled mobile robot. A kinematics controller with continuous functions, an improved adaptive sliding mode controller and a suitable back‐stepping controller are introduced in the heterogeneous multiagent system, respectively. Multiagent communication is one of the key steps to accomplish multiagent time synchronization. Experimental results are given to illustrate the applicability of the proposed distributed cooperative control strategy.

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Cooperative tracking control of single-integrator multi-agent systems with multiple leaders

Martinović

Zečević

Krstajić

2022

European Journal of Control

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Multi-robot systems implementing complex behaviors under time-varying topologies

Cited by 4 publications

References 47 publications

Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality

Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality

Distributed Cooperative Control of Heterogeneous Multiagent Systems for Air‐to‐Ground Formation

Cooperative tracking control of single-integrator multi-agent systems with multiple leaders

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