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A switched-system approach to formation control and heading consensus for multi-robot systems

Title
A switched-system approach to formation control and heading consensus for multi-robot systems
Authors
Jin, J.Ramirez, J.-P.Wee, Sung GilLee, Dong HaKim, Yoon GuGans, N.
DGIST Authors
Lee, Dong Ha
Issue Date
2018-04
Citation
Intelligent Service Robotics, 11(2), 207-224
Type
Article
Article Type
Article
Keywords
Collision avoidanceIndustrial robotsMobile robotsMultipurpose robotsRobot learningCommunication topologiesFormation controlMulti-robot systemsNonholonomic systemsNonholonomic wheeled mobile robotsSwitched systemTheoretical developmentTranslation vectorRobots
ISSN
1861-2776
Abstract
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
URI
http://hdl.handle.net/20.500.11750/5912
DOI
10.1007/s11370-018-0246-0
Publisher
Springer Verlag
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness1. Journal Articles


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