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Cooperative Target Enclosing and Tracking Control with Obstacles Avoidance for Multiple Nonholonomic Mobile Robots

Xinghua Li, Xiaoping Liu, Gang Wang, Song Han, Congling Shi, Honglei Che
2022 Applied Sciences  
This paper investigates the cooperative control problem for a group of autonomous nonholonomic mobile robots, in which the robots are required to collaboratively enclose and track a stationary or moving  ...  Finally, the obstacles avoidance control law based on artificial potential field only with repulsive force is adopted to ensure each robot effectively avoids obstacles.  ...  Likewise, a novel bearing-only measurement control scheme was proposed for a single and a group of autonomous nonholonomic mobile robots to enclose around a target of interest [20] .  ... 
doi:10.3390/app12062876 fatcat:vnui7ogsv5htfkozesck5tq6ta

Multirobot rendezvous with bearing-only or range-only measurements

Ronghao Zheng, Dong Sun
2014 Robotics and Biomimetics  
This paper studies distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots.  ...  We investigate control strategies which use just bearing-only or range-only measurements and do not need inter-robot radio communication to share the measurements.  ...  The work is also supported by a grant from the Research Grants Council, Hong Kong Special Administrative Region, China, under Grant CityU 119612 and a Collaborative Research Fund with Project no.  ... 
doi:10.1186/s40638-014-0004-5 fatcat:vpqiwibkljgj3dldr42vkpyoo4

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

Hamida Litimein, Zhen-You Huang, Ameer Hamza
2021 Electronics  
A review of bearing, range, and received signal strength measurements with respect to circular formation control is presented.  ...  The circular formation control aims to drive a group of agents to move on a circular trajectory around a center with spacing adjustment to avoid the collision.  ...  Achieving even distribution in circular trajectory by autonomous mobile robots while enclosing a moving target is presented in [84] .  ... 
doi:10.3390/electronics10232959 fatcat:naxe6o6sovglrpoznsglkcjdwi

A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

Bibhya Sharma, Jito Vanualailai, Avinesh Prasad
2017 Journal of Advanced Transportation  
A dϕ-strategy, where d and ϕ are Euclidean measures with respect to the lead robot, is developed to ensure virtual connectivity of the carrier robots to the lead robot.  ...  Moreover, a combination of target configuration, dϕ-strategy, orientation consensus, and avoidance of end-effector of robots results in a second, locally rigid formation (not infinitesimally rigid).  ...  We note that only the lead robot has the global information of the workspace, which includes the target configuration; thus, the carrier robots are guided by the lead robot.  ... 
doi:10.1155/2017/9213805 fatcat:k4nuehnx7fc5fksbxdxl2ykly4

Leader-Follower Based Locally Rigid Formation Control

Krishna Raghuwaiya, Bibhya Sharma, Jito Vanualailai
2018 Journal of Advanced Transportation  
This paper addresses motion control of a cooperative intelligent transport system (C-ITS) of nonholonomic mobile robots navigating a dynamic environment while maintaining a locally rigid formation.  ...  The robustness of the control scheme is established by considering the effect noise on the formation, while the effectiveness of the proposed nonlinear control laws is demonstrated through computer simulations  ...  as a whole in a given course with some given bearing.  ... 
doi:10.1155/2018/5278565 fatcat:3xi25onafvapxa3awflqdwnfva

Control of car-like (wheeled) multi robots for following and hunting a moving target

H. Sayyaadi, H. Kouhi, H. Salarieh
2011 Scientia Iranica. International Journal of Science and Technology  
All robots are equipped with range and bearing sensors along with antenna, to communicate radio wave signals.  ...  The main purpose of this paper is to design a decentralized controller for some car-like (wheeled) multi robots to follow and hunt a moving target.  ...  Consider the problem of the navigation and guidance of a unicycle-type mobile robot towards a maneuvering target, based on measurements concerning only the distance from the robot to the target [6] .  ... 
doi:10.1016/j.scient.2011.07.006 fatcat:zxwsf3c7ureyhi3cco5zaj76sy

Experimental validation of collective circular motion for nonholonomic multi-vehicle systems

Daniele Benedettelli, Nicola Ceccarelli, Andrea Garulli, Antonio Giannitrapani
2010 Robotics and Autonomous Systems  
This paper presents the experimental validation of a recently proposed decentralized control law, for the collective circular motion of a team of nonholonomic vehicles about a virtual reference beacon.  ...  The main contribution of this work is to evaluate the performance of the proposed algorithm in presence of a number of uncertainty sources naturally arising in a real-world environment.  ...  Finally, range and bearing measurements ρ i , γ i , ρ ij γ ij with respect to the virtual reference beacon and the robot neighbors, required by the control law (3) , are computed from the position and  ... 
doi:10.1016/j.robot.2010.03.001 fatcat:w6y2g43d2fc5znyrwmyhxbtqte

Distributed switching control to achieve resilience to deep fades in leader-follower nonholonomic systems

Bin Hu, Michael D. Lemmon
2014 Proceedings of the 3rd international conference on High confidence networked systems - HiCoNS '14  
This suggests that one can use channel state information as a feedback signal to recover the performance loss caused by a deep fade.  ...  This paper derives sufficient conditions to assure almost-sure practical stability of a leader-follower nonholonomic system in the presence of deep fades.  ...  Figure 1 shows a string formation of N mobile robots.  ... 
doi:10.1145/2566468.2566473 dblp:conf/hicons/HuL14 fatcat:qbnu3v4gpneg7k7cgs6gym2lri

A hybrid control approach to cooperative target tracking with multiple mobile robots

Ying Lan, Gangfeng Yan, Zhiyun Lin
2009 2009 American Control Conference  
Robots are steered to get closer to the target when they are far and then switch to coordinate their motion in order to cooperatively capture the target by eventually moving on a circle around the target  ...  The paper proposes a novel approach based on hybrid control and reachability specification for cooperative target tracking with multiple unicycle-type robots.  ...  In this paper, we study cooperative target tracking problems in multiple mobile robots with nonholonomic constraints.  ... 
doi:10.1109/acc.2009.5160617 dblp:conf/amcc/LanYL09 fatcat:xpeugbu4ozhr5olny6m4kasqna

A Framework and Architecture for Multi-Robot Coordination

Rafael Fierro, Aveek Das, John Spletzer, Joel Esposito, Vijay Kumar, James P Ostrowski, George Pappas, Camillo J Taylor, Yerang Hur, Rajeev Alur, Insup Lee, Greg Grudic (+1 others)
2002 The international journal of robotics research  
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting  ...  We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.  ...  Acknowledgments This research was supported in part by DARPA ITO MARS 130-1303-4-534328-xxxx-2000-0000, DARPA ITO MoBIES F33615-00-C-1707, and NSF grant CISE/CDS-9703220.  ... 
doi:10.1177/027836402128964080 fatcat:ifmdj4adrzcp3gw5fp4zfil5pe

Decentralized cooperative control - A multivehicle platform for research in networked embedded systems

2007 IEEE Control Systems  
This work is supported in part by NSF grants #0311460 and CAREER #0348637 and by the U.S. Army Research Office under grant DAAD19-03-1-0142 (through the University of Oklahoma).  ...  For example, [14] approaches this problem by generating a trajectory for a holonomic robot and then using nonholonomic trajectory tracking.  ...  When using the PFC together with a nonholonomic vehicle, the robot may begin to circle around its goal position.  ... 
doi:10.1109/mcs.2007.365004 fatcat:6bvg3gjsqjejjc3sjdbaozmtjq

A Framework and Architecture for Multi-Robot Coordination

Rafael Fierro, Aveek Das, John Spletzer, Joel Esposito, Vijay Kumar, James P. Ostrowski, George Pappas, Camillo J. Taylor, Yerang Hur, Rajeev Alur, Insup Lee, Greg Grudic (+1 others)
2002 The international journal of robotics research  
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting  ...  We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.  ...  Acknowledgments This research was supported in part by DARPA ITO MARS 130-1303-4-534328-xxxx-2000-0000, DARPA ITO MoBIES F33615-00-C-1707, and NSF grant CISE/CDS-9703220.  ... 
doi:10.1177/0278364902021010981 fatcat:jcmz6gzpwfesjjbuexzy64vai4

A distributed reconfigurable control law for escorting and patrolling missions using teams of unicycles

Ying Lan, Zhiyun Lin, Ming Cao, Gangfeng Yan
2010 49th IEEE Conference on Decision and Control (CDC)  
In the paper, we develop a distributed reconfigurable control law to distribute unicycle-type vehicles evenly on a circle surrounding a moving target for the escorting and patrolling missions.  ...  It is shown that as the target moves, the group formation moves and rotates around the target to keep the target around the formation centroid.  ...  which can be measured by onboard sensors, and utilizes the information of linear speed and bearing angle measured by the target object, which is available to the vehicles via communication from the target  ... 
doi:10.1109/cdc.2010.5717425 dblp:conf/cdc/LanLCY10 fatcat:2nan6hxzkjapbc3sb4wrc3c35a

Mentaca: An universal jamming gripper on wheels

Harold-Rodrigo Valenzuela-Coloma, Yi-sheng Lau-Cortes, Ricardo-Enrique Fuentes-Romero, Juan Cristobal Zagal, Ricardo-Franco Mendoza-Garcia
2015 2015 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)  
Versatile robotic grasping is often limited by the local working envelope of robotic arm grippers.  ...  We built a mobile platform with a 3-DOF manipulator on top, and explore the modifications required for an universal jamming gripper to become mobile.  ...  work showed that it is feasible to do so by mounting a jamming gripper in a mobile robotic platform.  ... 
doi:10.1109/chilecon.2015.7404666 fatcat:mf3ryfwjzraghjeopvftabdhma

Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems

Gabriel A. D. Lopes, Daniel E. Koditschek
2007 The international journal of robotics research  
This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments.  ...  Abstract-This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments.  ...  whose convex hull encloses a set with non-empty interior on SE(2)).  ... 
doi:10.1177/0278364907080737 fatcat:cimelkpn6fahhkobsmx2p6nxb4
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