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

Hamida Litimein, Zhen-You Huang, Ameer Hamza
2021 Electronics  
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.  ...  The stabilization of the collective circular motion with the unicycles approach is also discussed.  ...  Bearing Measurements The bearing angle refers to the angle subtended at agent a by its two neighbor agents [100] .  ... 
doi:10.3390/electronics10232959 fatcat:naxe6o6sovglrpoznsglkcjdwi

A model-predictive approach to formation control of omnidirectional mobile robots

K. Kanjanawanishkul, A. Zell
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a solution to the problem of steering a group of real omnidirectional mobile robots along a given path, while maintaining a desired formation pattern.  ...  This problem can be divided into a leader agent subproblem and a follower agent subproblem such that a leader agent follows a given path and each follower agent tracks a trajectory, estimated by using  ...  To guarantee control stability, many approaches have been investigated, e.g., using so called terminal region constraints and/or a terminal penalty term.  ... 
doi:10.1109/iros.2008.4650752 dblp:conf/iros/KanjanawanishkulZ08 fatcat:f3vclo63o5dzdnh2dgdrvquz64

Safety Embedded Control of Nonlinear Systems via Barrier States [article]

Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou
2021 arXiv   pre-print
and on two simple mobile robots that are sent to opposite targets with an obstacle on the way which may potentially result in a collision.  ...  Consequently, a conflict between control objectives and safety constraints is substantially avoided.  ...  Multi Simple Mobile Robot Collision Avoidance In this example, two simple mobile robots are asked to navigate their way toward a prespecified target.  ... 
arXiv:2102.10253v2 fatcat:kaxom2npdrd3nate3awuaawhnu

Swarming of mobile router networks

Nicola Bezzo, Rafael Fierro
2011 Proceedings of the 2011 American Control Conference  
A decentralized method for mobile router networks is proposed in this paper.  ...  A group of mobile routers moves in a cluttered environment maintaining connectivity between a base station and multiple exploring users.  ...  on the angle (6) and the constraint on the clusters (7) .  ... 
doi:10.1109/acc.2011.5990859 fatcat:amofmiqglfhgfkchtroqotjcku

Distributed Formation Control of Nonlonolomic Mobile Robots by Bounded Feedback in the Presence of Obstacles [article]

Thang Nguyen, Hung M. La
2017 arXiv   pre-print
Collision avoidance among agents is guaranteed using a control law based on a repulsive force.  ...  The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation.  ...  Obstacles can be avoided with the help of a virtual agent, which is proposed in [8] . Note that in [8] , constraints on the speeds of the mobile robot are not considered.  ... 
arXiv:1704.04566v2 fatcat:etldlou7abcblc5nrqlrbcyfvu

A "constrain and move" approach to distributed object manipulation

M.N. Ahmadabadi, E. Nakano
2001 IEEE Transactions on Robotics and Automation  
Each subtask is assigned to a group of distributed mobile robots.  ...  It is noted that weight of the payload can be used by the robots as a natural constraint on the object.  ...  Therefore, the constraint forces must span a force plane for a two-dimensional case. There are different ways to place such constraints on an object.  ... 
doi:10.1109/70.928561 fatcat:gzyjbishsfcb5mp4lkyqjagiye

Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks

Paul S. Schenker, Terrance L. Huntsberger, Paolo Pirjanian, Eric T. Baumgartner, Hrand Aghazarian, Ashitey Trebi-Ollennu, Patrick C. Leger, Yang Cheng, Paul G. Backes, Edward Tunstel, Steven Dubowsky, Karl D. Iagnemma (+3 others)
2001 Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision  
Results of our work include prototypes for landed manipulators, long-ranging science rovers, sampling/sample return mobility systems, and more recently, terrain-adaptive reconfigurable/modular robots and  ...  During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces.  ...  ACKNOWLEDGEMENTS This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1117/12.444181 fatcat:dbkf6ktarbbwlpacjjvagimqbe

Space Partition for Conflict Resolution of Intersecting Flows of Mobile Agents

Zhi-Hong Mao, D. Dugail, E. Feron
2007 IEEE transactions on intelligent transportation systems (Print)  
The idea of space partition is first demonstrated for two intersecting flows of mobile agents.  ...  An online algorithm may find optimal resolution of conflict for a specific set of mobile agents but has to be rerun each time when new agents arrive, whereas a periodic partition of space provides a priori  ...  This paper follows our previous efforts [1] , [19] - [21] , where analytical arguments were used to prove stability of two interacting flows of mobile agents (aircraft) under decentralized sequential  ... 
doi:10.1109/tits.2007.902646 fatcat:uvcxe7dafnbn5a7z6pbrk7lv6m

Reconfigurable robots for all-terrain exploration

Paul S. Schenker, Paolo Pirjanian, J. Balaram, K. S. Ali, Ashitey Trebi-Ollennu, Terrance L. Huntsberger, Hrand Aghazarian, Brett A. Kennedy, Eric T. Baumgartner, Karl D. Iagnemma, Adam Rzepniewski, Steven Dubowsky (+5 others)
2000 Sensor Fusion and Decentralized Control in Robotic Systems III  
rover stability, traction, power utilization, etc.).  ...  accurate "configuration" information; 2) kinematic and dynamical stability analysis of such configurations so as to determine "predicts" for a needed change of control regime (e.g., traction control,  ...  ACKNOWLEDGEMENTS This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1117/12.403744 fatcat:kjxo5hq3gjdc5pq4nsdzsjwpo4

Formation shape control based on bearing rigidity

Tolga Eren
2012 International Journal of Control  
Bearing-based shape control for a formation of mobile agents involves the design of distributed control laws that ensure the formation moves, so that bearing constraints maintain some desired values.  ...  The second part of this article focuses on the design of a distributed control scheme for nonholonomic agents to solve the bearing-based formation shape control problem.  ...  Kinematic agent model The type of agent under consideration is nonholonomic, two-wheeled 'differential drive' vehicle with a small castor ball at the front-end to establish its mechanical stability, where  ... 
doi:10.1080/00207179.2012.685183 fatcat:5zqqsg4b4nehlbgqfi62a6e2ce

Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm

Jin Cheng, Bin Wang
2020 Mathematical Problems in Engineering  
Flocking control problem of mobile robots under environment with unknown obstacles is addressed in this paper.  ...  Based on the simulated annealing algorithm, a flocking behaviour for mobile robots is achieved which converges to alignment while avoiding obstacles.  ...  In [21] , the cooperative motion coordination of leader-follower formations of nonholonomic mobile robots under visibility and communication constraints in known polygonal obstacle environments is studied  ... 
doi:10.1155/2020/7357464 fatcat:napubngn3vg3vbl5lnpzyhek7a

Task planning for cooperating self-reconfigurable mobile fixtures

Włodzimierz Kasprzak, Dimiter Zlatanov, Wojciech Szynkiewicz, Teresa Zielińska
2013 The International Journal of Advanced Manufacturing Technology  
The fixture agents need to provide local support for a large workpiece during machining. The path-planning problem is converted into a constraint satisfaction problem (CSP).  ...  head, a mobile base, and a parallel manipulator.  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s)  ... 
doi:10.1007/s00170-013-5185-5 fatcat:uq7gyn3c45gexibcz42d6qxu7y

Station keeping through beacon-referenced cyclic pursuit

Kevin S. Galloway, Biswadip Dey
2015 2015 American Control Conference (ACC)  
Stability of circling shape equilibria is shown for a 2-agent system, and the results are demonstrated on a collective of mobile robots tracked by a motion capture system.  ...  This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon.  ...  Halder in implementing the control law on mobile robots.  ... 
doi:10.1109/acc.2015.7172080 dblp:conf/amcc/GallowayD15 fatcat:4uvc2y5o4rai5e5u257wntg4me

Formations of Vehicles in Cyclic Pursuit

J.A. Marshall, M.E. Broucke, B.A. Francis
2004 IEEE Transactions on Automatic Control  
First, we introduce the notion of cyclic pursuit by examining a system of identical linear agents in the plane.  ...  This idea is then extended to a system of wheeled vehicles, each subject to a single nonholonomic constraint (i.e., unicycles), which is the principal focus of this paper.  ...  Let there be ordered mobile agents in the plane, their positions at time denoted , , where agent pursues the next modulo 2 .  ... 
doi:10.1109/tac.2004.837589 fatcat:dhs2ktqkyjf23hnnvtlhrzli3e

OUP accepted manuscript

2016 IMA Journal of Mathematical Control and Information  
Here, each agent measures the bearing to the other two agents in a local coordinate system, and control its motion according to prescribed geometric constraints.  ...  Second, we present a sequential, multi-stage strategy and analyse its stability.  ...  The major algorithmic contribution of this paper is the development of a distributed law for angularconstrained formation control of a multi-agent system under sensing/communication constraints.  ... 
doi:10.1093/imamci/dnw073 fatcat:s2myz3ffpzhmfit4wlqr24npiq
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