Relation between leader–follower consensus control and feedback vertex sets

Sugiyama, Daiki; Azuma, Shun‐ichi; Ariizumi, Ryo; Asai, Toru

doi:10.1080/01691864.2022.2126730

Cited by 2 publications

(2 citation statements)

References 17 publications

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“…Thus, the first step is to determine the formation architecture of the fleet. Many studies have been conducted referring around the subject of the formation control of multiple mobile robots as mentioned in [6][7][8][9][10][11][12][13][14][15][16][17][18][19]. Most of these works propose a formation based on the graph theory, meaning that they can perform from complex shapes to more simple, like a straight line (leader-follower formation).…”

Section: Related Literaturementioning

confidence: 99%

“…This scheme incorporates a discontinuous cooperative control law for individual sub-formations around targets, complemented by a continuous control protocol designed to tackle implementation challenges. Another approach many researchers have adopted is the use of artificial potential fields [21,22] as well as the exploitation of a reference point for their system like a camera placed in the ceiling or a 360 • camera mounted on each robotic agent [15][16][17][18][19].…”

Section: Related Literaturementioning

confidence: 99%

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Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Anogiatis,

Trakas,

Bechlioulis

2024

Electronics

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This paper presents a distributed approach to the motion control problem for a platoon of unicycle robots moving through an unknown environment filled with static obstacles under multiple hard and soft operational constraints. Each robot has an onboard camera to determine its relative position in relation to its predecessor and proximity sensors to detect and avoid nearby obstascles. Moreover, no robot apart from the leader can independently localize itself within the given workspace. To overcome this limitation, we propose a novel distributed control protocol for each robot of the fleet, utilizing the Adaptive Performance Control (APC) methodology. By utilizing the APC approach to address input constraints via the on-line modification of the error specifications, we ensure that each follower effectively tracks its predecessor without encountering collisions with obstacles, while simultaneously maintaining visual contact with its preceding robot, thus ensuring the inter-robot visual connectivity. Finally, extensive simulation results are presented to demonstrate the effectiveness of the presented control system along with a real-time experiment conducted on an actual robotic system to validate the feasibility of the proposed approach in real-world scenarios.

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Section: Related Literaturementioning

confidence: 99%

Section: Related Literaturementioning

confidence: 99%

Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Anogiatis,

Trakas,

Bechlioulis

2024

Electronics

View full text Add to dashboard Cite

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Multi-Robot Patrol with Continuous Connectivity and Assessment of Base Station Situation Awareness

Kobayashi,

Ueno,

Higuchi

2024

J. Robot. Mechatron.

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Patrolling represents a potential application area for multi-robot systems, as it can enable efficient surveillance. A key aspect in facilitating the real-world applications of such missions is the enhancement of situation awareness of the base station (BS), in addition to ensuring well-coordinated patrol behavior. This paper addresses this requirement by proposing a layered patrol algorithm designed to maintain network connectivity with the BS. The novelty of this research lies in the distributed nature of the algorithm, despite the presence of the BS. Each robot independently determines its behavior based on local information while concurrently preserving connectivity to the BS. Additionally, this study introduces a novel performance metric to assess the situation awareness of the BS, focusing on the algorithm’s ability to provide prompt information about mission progress. Simulated missions revealed that the proposed algorithm outperformed existing algorithms, visited locations of interest more frequently and comprehensively, and provided the BS with improved situation awareness. Enhancing situation awareness may enable human operators to quickly gain insights into the system’s behavior based on mission progress, allowing for timely interventions if necessary. This capability contributes to improving human trust in autonomous systems.

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Relation between leader–follower consensus control and feedback vertex sets

Cited by 2 publications

References 17 publications

Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Multi-Robot Patrol with Continuous Connectivity and Assessment of Base Station Situation Awareness

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