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A switched-system approach to formation control and heading consensus for multi-robot systems
- A switched-system approach to formation control and heading consensus for multi-robot systems
- Jin, J.; Ramirez, J.-P.; Wee, Sung Gil; Lee, Dong Ha; Kim, Yoon Gu; Gans, N.
- DGIST Authors
- Lee, Dong Ha
- Issue Date
- Intelligent Service Robotics, 11(2), 207-224
- Article Type
- Collision avoidance; Industrial robots; Mobile robots; Multipurpose robots; Robot learning; Communication topologies; Formation control; Multi-robot systems; Nonholonomic systems; Nonholonomic wheeled mobile robots; Switched system; Theoretical development; Translation vector; Robots
- This paper proposes a novel, hybrid and decentralized, switched-system approach for formation and heading consensus control of mobile robots under switching communication topology, including collision avoidance capability. The set of robots consists of nonholonomic wheeled mobile robots and can include a teleoperated UAV. The key feature of this approach is a virtual graph, which is derived by adding a set of relative translation vectors to the real graph of the multiple robots. Our approach results in the robots in the real graph moving to the desired formation and achieving heading consensus while the virtual robots on the virtual graph reach pose consensus. If any robot detects a nearby obstacle or other robot, the robot will temporarily move along an avoidance vector, which is perpendicular and positively projected onto the attractive vector, such that collision is avoided while minimally deviating from its formation control path. Experimental results are provided by two different research groups to demonstrate the effectiveness of our approach. These experiments extend the theoretical development by introducing a teleoperated quadrotor as a leader robot of the multi-robot systems. The same control law works for the extended system, with no modifications. © 2018 Springer-Verlag GmbH Germany, part of Springer Nature
- Springer Verlag
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