Proceedings Article10.1109/ROBOT.2007.363676
Multi-Robot Formations based on the Queue-Formation Scheme with Limited Communications
Cheng-Heng Fua,Shuzhi Sam Ge,Khac Due Do,Khiang Wee Lim +3 more
- 10 Apr 2007
- pp 2385-2390
TL;DR: A dynamic target determination algorithm, based on the Q-structure, is used to produce a series of targets that incrementally guide each robot into formation, which provides greater control over the distance between robots on the same queue for better formation scaling.
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Abstract: In this paper, we investigate the operation of the queue-formation structure (or Q-structure) in multi-robot teams with limited communications Information flow is divided into two time scales: (i) the fast time scale where the robots' reactive actions are determined based only on local communications, and (ii) the slow time scale, where information required is less demanding, can be collected over a longer time with intermittent information loss Therefore, there is no need for global information at all times, reducing the overall communication load In addition, a dynamic target determination algorithm, based on the Q-structure, is used to produce a series of targets that incrementally guide each robot into formation It provides greater control over the distance between robots on the same queue for better formation scaling An analysis of the convergence of the system of robots is provided Simulation studies verify the effectiveness of the scheme
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Citations
Leader-follower formation control of underactuated AUVs with leader position measurement
Rongxin Cui,Shuzhi Sam Ge,Bernard Voon Ee How,Yoo Sang Choo +3 more
- 12 May 2009
TL;DR: A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov and backstepping synthesis, and simulation results demonstrated the effectiveness of the proposed scheme.
40
Multi-Robot Formations based on the Queue-Formation Scheme with Limited Communications
Cheng-Heng Fua,Shuzhi Sam Ge,Khac Due Do,Khiang Wee Lim +3 more
- 10 Apr 2007
TL;DR: A dynamic target determination algorithm, based on the Q-structure, is used to produce a series of targets that incrementally guide each robot into formation, which provides greater control over the distance between robots on the same queue for better formation scaling.
A Motion Planning of Swarm Robots Using Genetic Algorithm
Chien-Chou Lin,Po-Yuan Hsiao,Kun-Cheng Chen +2 more
- 04 Nov 2010
TL;DR: A potential-based genetic algorithm is proposed for formation control of robot swarm that consists of a global path planner and a motion planner based on artificial potential models to keep robot swarm within a certain distance.
14
Synchronized altitude tracking control of multiple unmanned helicopters
Rongxin Cui,Shuzhi Sam Ge,Beibei Ren +2 more
- 29 Jul 2010
TL;DR: It is shown that, the output tracking error of each helicopter converges to an adjustable neighborhood of origin under the proposed NN control, although some of them do not access the desired tracking trajectory directly.
12
An adaptive leader-follower formation controller for multiple AUVs in spatial motions
Saba Emrani,Alireza Dirafzoon,Heidar Ali Talebi,S. K. Yadavar Nikravesh,Mohammad Bagher Menhaj +4 more
- 23 Dec 2010
TL;DR: In this article, the problem of leader-follower formation control for multiple AUVs in spatial motions is considered, and an adaptive control rule mainly based on inverse dynamics of the plant is developed.
9
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Virtual leaders, artificial potentials and coordinated control of groups
Naomi Ehrich Leonard,E. Fiorelli +1 more
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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.
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A vision-based formation control framework
Aveek Das,Rafael Fierro,Vijay Kumar,James Ostrowski,John R. Spletzer,Camillo J. Taylor +5 more
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TL;DR: In this article, the authors describe a framework for cooperative control of a group of nonholonomic mobile robots that allows them to build complex systems from simple controllers and estimators, and guarantee stability and convergence in a wide range of tasks.
Formation constrained multi-agent control
Magnus Egerstedt,Xiaoming Hu +1 more
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TL;DR: The main theorem states that under a bounded tracking error assumption, the method stabilizes the formation error and is illustrated by applying it to rigid body constrained motions, as well as to mobile manipulation.
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•Journal Article
Leader-to-formation stability.
TL;DR: Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies.
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