Stable motions of vehicle formations

Williams, A.; Lafferriere, Gerardo; Veerman, J. J. P.

doi:10.1109/cdc.2005.1582133

Cited by 24 publications

(26 citation statements)

References 18 publications

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“…If the pairs of vertices are unordered, the graph is called an undirected graph; otherwise, the graph is called a directed graph. In the context of this paper, we consider the leader-follower communication architecture as a directed graph, in which a directed edge points from the follower to the leader, i.e., head is the leader and tail is the follower 1 A deformation is a continuous one-parameter family p(t) = (p 1 (t), . .…”

Section: Preliminaries a Graph Rigidity And Its Sufficient Condimentioning

confidence: 99%

“…Among the literature on formation control, there exists two distinct categories according to the type of information that the control law requires -the position-based formation control in [1] [2] [3] [4], and the distance-based formation control in [5] [6] [7] [8]. The position-based formation control steers each vehicle upon the relative direction and distance information shared by adjacent vehicles.…”

Section: Introductionmentioning

confidence: 99%

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

Wang

Guo

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-Given a multi-robot system, in order to preserve its geometric shape in a formation, the minimal persistence control addresses questions: (1) what pairwise communication connections have to be prescribed to minimize communication channels, and (2) which orientations of communication links are to be placed between robots. In this paper, we propose a minimal persistence control problem on multi-robot systems with underlying graphs being directed and dynamically switching. We develop distributed algorithms based on the rank of the rigidity matrix and the pebble game method. The feasibility of the proposed methods is validated by simulations on the robotic simulator Webots and experiments on e-puck robot platform.

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Section: Preliminaries a Graph Rigidity And Its Sufficient Condimentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Wang

Guo

2012

2012 IEEE International Conference on Robotics and Automation

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“…As funcões de saída z i podem ser calculadas pela média dos deslocamentos relativos (e velocidades relativas) da vizinhança dos respectivos robôs móveis como sendo (veja (Fax and Murray., 2004) e ) para maiores detalhes) Williams et al, 2005).…”

Section: Geração Das Trajetórias De Re-ferênciaunclassified

Controle robusto de robos móveis em formação sujeitos a falhas

Siqueira

Terra

Francisco

2010

Sba Controle & Automação

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Robust and Fault Tolerant Control of Wheeled Mobile Robots In FormationThis paper deals with robust and fault tolerant controls of wheeled mobile robots (WMRs) in formation. The robust approach is based on output feedback nonlinear H ∞ control. The fault tolerant approach is based on output feedback H ∞ control of Markovian jump linear systems to ensure stability of the formation when one of the robots is lost during the coordinated motion. The coordination is performed with the robots following a leader, and any robot of the formation can assume the leadership randomly. The mobile robots exchange informations according to a pre-specified communication directed graph (digraph). tolerante a falhasé baseado em controle H ∞ por realimentação da saída de sistemas lineares sujeitos a saltos Markovianos para garantir estabilidade da formação quando um dos robôsé perdido durante o movimento coordenado. A coordenaçãoé realizada em função de um lider e qualquer robô da formação pode assumir a liderança de maneira aleatória. Os robôs móveis trocam informações de acordo com um grafo de comunicação direcionado (dígrafo), definido a-priori.

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“…convirja para formação h pode ser vista em [67]. Este é um problema de estabilização envolvendo realimentação da saída.…”

Section: Modelo Do Sistemaunclassified

“…Em [67] mostra-se que as condições necessárias e suficientes para o sistema dado em (7.8) convergir para a formação são obtidas com f 1 < 0 e f 2 < 0. Porém, na simulação do programa para alternância de líderes verificou-se que esta condição não foi suficiente para que os robôs convergissem para formação.…”

Section: Modelo Do Sistemaunclassified

Estudo de coordenação de robôs móveis com obstáculos

Ventura¹

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Coordination of mobile robots is an important topic of research because there are tasks that may be too difficult for a single robot to perform alone, these tasks can be performed more efficiently and cheaply by a group of mobile robots. This dissertation presents a study on the coordination of mobile robots to the problem of navigation in outdoor environments. To solve this problem, a localization system using data from odometry and GPS receiver, and an obstacle avoidance system to plan the collision-free trajectory, were developed. The coordinated motions are performed by the robots that follow a leader, and any robot of the formation can assume the leadership. The leadership is assumed by a robot when it exceeds the threshold distance to an obstacle. Stable motions are generated by a decentralized control law based on the robots' coordinates. To ensure the stability formation when there is alternation of leader or one of the robots is removed, we made a fault tolerant control for a group of mobile robots. The fault tolerant approach is based on output feedback H ∞ control of Markovian jump linear systems to ensure stability of the formation when one of the robots is lost during the coordinated motion. The results of the localization system show that the use of robust filter for data fusion produces a better estimation of the mobile robot's position. The results also show that the obstacle avoidance system is capable of generating a path free from obstacles in unknown environments. Finally, the results of the coordination system show that the group of robots maintain the desired formation along the reference trajectory in the presence of disturbance or removal of one of them.

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Stable motions of vehicle formations

Cited by 24 publications

References 18 publications

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

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

Controle robusto de robos móveis em formação sujeitos a falhas

Estudo de coordenação de robôs móveis com obstáculos

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