Journal ArticleDOI
High Precision Formation Control of Mobile Robots Using Virtual Structures
M. Anthony Lewis,Kar-Han Tan +1 more
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TLDR
Results are presented that demonstrate that this approach to general control strategy is capable of achieving high precision movement that is fault tolerant and exhibits graceful degradation of performance.Abstract:
A key problem in cooperative robotics is the maintenance of a geometric configuration during movement. To address this problem, the concept of a Virtual Structure is introduced. Using this idea, a general control strategy is developed to force an ensemble of robots to behave as if they were particles embedded in a rigid structure. The method was instantiated and tested using both simulation and experimentation with a set of 3 differential drive mobile robots. Results are presented that demonstrate that this approach is capable of achieving high precision movement that is fault tolerant and exhibits graceful degradation of performance. In addition, this algorithm does not require leader selection as in other cooperative robotic strategies. Finally, the method is inherently highly flexible in the kinds of geometric formations that can be maintained.read more
Citations
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Journal ArticleDOI
A survey of multi-agent formation control
TL;DR: A survey of formation control of multi-agent systems focuses on the sensing capability and the interaction topology of agents, and categorizes the existing results into position-, displacement-, and distance-based control.
Journal ArticleDOI
A coordination architecture for spacecraft formation control
TL;DR: A coordination architecture that subsumes leader-following, behavioral, and virtual-structure approaches to the multiagent coordination problem is introduced and illustrated through a detailed application of the ideas to the problem of synthesizing a multiple spacecraft interferometer in deep space.
Journal ArticleDOI
A decentralized approach to formation maneuvers
TL;DR: Hardware results demonstrate the effectiveness of the proposed formation control strategies, which injects interrobot damping via passivity techniques and accounts for actuator saturation.
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Brief paper: Finite-time formation control for multi-agent systems
TL;DR: This paper proposes a class of nonlinear consensus protocols, which ensures that the related states of all agents will reach an agreement in a finite time under suitable conditions, and applies these protocols to the formation control, including time-invariant formation, time-varying formation and trajectory tracking.
Journal ArticleDOI
Consensus strategies for cooperative control of vehicle formations
TL;DR: In this article, a consensus-based formation control strategy is proposed to guarantee accurate formation maintenance in the general case of arbitrary (directed) information flow between vehicles as long as certain mild conditions are satisfied.
References
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TL;DR: Numerical Recipes: The Art of Scientific Computing as discussed by the authors is a complete text and reference book on scientific computing with over 100 new routines (now well over 300 in all), plus upgraded versions of many of the original routines, with many new topics presented at the same accessible level.
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Numerical Recipes in C: The Art of Scientific Computing
Mary C. Seiler,Fritz A. Seiler +1 more
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Journal ArticleDOI
Cooperative mobile robotics: antecedents and directions
TL;DR: A critical survey of existing works in cooperative robotics is given and open problems in this field are discussed, emphasizing the various theoretical issues that arise in the study of cooperative robotics.