Journal ArticleDOI
Swarm aggregations using artificial potentials and sliding-mode control
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TLDR
This paper considers a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique, and considers a general model for vehicle dynamics of each agent (swarm member), and uses sliding- mode control theory to force their motion to obey the dynamics of the kinematic model.Abstract:
In this paper, we consider a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, the interindividual interactions are based on artificial potential functions, and the motion of the individuals is along the negative gradient of the combined potential. After that, we consider a general model for vehicle dynamics of each agent (swarm member), and use sliding-mode control theory to force their motion to obey the dynamics of the kinematic model. In this context, the results for the initial model serve as a "proof of concept" for multiagent coordination and control (swarm aggregation), whereas the present results serve as a possible implementation method for engineering swarms with given vehicle dynamics. The presented control scheme is robust with respect to disturbances and system uncertainties.read more
Citations
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Journal ArticleDOI
Distributed containment control with multiple stationary or dynamic leaders in fixed and switching directed networks
TL;DR: It is shown via some counterexamples that it is, in general, impossible to find distribute containment control algorithms without velocity measurements to guarantee that all followers will ultimately converge to the convex hull formed by the dynamic leaders under a switching network topology in a high-dimensional space.
Journal ArticleDOI
Brief paper: Region-based shape control for a swarm of robots
TL;DR: This paper presents a region-based shape controller for a swarm of robots that does not require specific orders or positions of the robots inside the region and yet different formations can be formed for a Swarm of robots.
Journal ArticleDOI
A class of attractions/repulsion functions for stable swarm aggregations
Veysel Gazi,Kevin M. Passino +1 more
TL;DR: In this article, the authors consider an M-member ''individual-based'' continuous time swarm model in an n-dimensional space and extend the results in Gazi and Passino (2003) by specifying a general class of attraction/repulsion functions that can be used to achieve swarm aggregation.
Book ChapterDOI
Multiple Mobile Robot Systems
TL;DR: Within the context of multiple mobile, and networked robot systems, this chapter explores the current state of the art in architectures for multirobot cooperation, exploring the alternative approaches that have been developed.
Proceedings Article
Distributed Intelligence: Overview of the Field and Its Application in Multi-Robot Systems.
TL;DR: In this article, three common paradigms for distributed intelligence are discussed: the bio-inspired paradigm, the organizational and social paradigm, and the knowledge-based, ontological paradigm.
References
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Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Book
Real-time obstacle avoidance for manipulators and mobile robots
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Journal ArticleDOI
Exact robot navigation using artificial potential functions
Elon Rimon,Daniel E. Koditschek +1 more
TL;DR: A methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design is presented.
Journal ArticleDOI
Variable structure control of nonlinear multivariable systems: a tutorial
TL;DR: In this paper, the design of variable-structure control (VSC) systems for a class of multivariable, nonlinear, time-varying systems is presented.
Proceedings ArticleDOI
Virtual leaders, artificial potentials and coordinated control of groups
Naomi Ehrich Leonard,E. Fiorelli +1 more
TL;DR: In this article, a framework for coordinated and distributed control of multiple autonomous vehicles using artificial potentials and virtual leaders is presented, where virtual leaders can be used to manipulate group geometry and direct the motion of the group.