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Cooperative Formation Planning and Control of Multiple Mobile Robots [chapter]

R. M. Kuppan Chetty, M. Singaperumal, T. Nagaraj
2011 Mobile Robots - Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training  
Mathematical modeling of formation behavior Formation behavior is made up of mathematical formulation of tracking controller based on the kinematics of the wheeled mobile robot.  ...  In view of the limitations summarized above, three important issues related to distributed formation planning and control of multiple mobile robots namely i) distributed layered formation control framework  ...  Cooperative Formation Planning and Control of Multiple Mobile Robots, Mobile Robots -Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training, Dr.  ... 
doi:10.5772/26596 fatcat:z7gkeumfmvhi3praq4jfmd3nbe

BACKWARD MOTION PLANNING AND CONTROL OF MULTIPLE MOBILE ROBOTS MOVING IN TIGHTLY COUPLED FORMATIONS

Kuppan Chetty RAMANATHAN, Manju MOHAN, Joshuva AROCKIA DHANRAJ
2021 Applied Computer Science  
This work addresses the development of a distributed switching control strategy to drive the group of mobile robots in both backward and forward motion in a tightly coupled geometric pattern, as a solution  ...  A generalized closed-loop tracking controller considering the leader referenced model is used for the robots to remain in the formation while navigating the environment.  ...  Generalized Tracking Controller The generalized tracking controller used to position the robot in the tightly coupled formation is modeled based on the kinematics of the non-holonomic wheeled mobile robot  ... 
doi:10.23743/acs-2021-21 doaj:f8ca6347274f4d7798c8e9989ee3be02 fatcat:g2isabcegjdojnb2hvjugil6ku

A Flexible Architecture for Navigation Control of a Mobile Robot

Harry Chia-Hung Hsu, Alan Liu
2007 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
Two case studies, a wheelchair and formation control, are introduced for explaining our approach and to show the feasibility and effectiveness of dynamic task switch.  ...  In VOMAS, intelligent agents, called a virtual operator (VO) and a robot agent (RA), work together to control a robot to fulfill a specific task.  ...  Hwang for providing the hardware support for the mobile robot. Helpful comments from the editors and the reviewers are also acknowledged.  ... 
doi:10.1109/tsmca.2007.893460 fatcat:jtdiwzkryvezhpktxzyi6afj54

A networked formation control for groups of mobile robots using mixed integer programming

Thomas Kopfstedt, Masakazu Mukai, Masayuki Fujita, Oliver Sawodny
2006 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control  
In this paper we will demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication.  ...  The effectiveness of our formation control structure and the algorithm for the planning of the trajectory is demonstrated in simulations and experiments which also verify the dynamic models of the robots  ...  CONCLUSION In this paper formation switching for groups of mobile robots using mixed integer programming has been investigated.  ... 
doi:10.1109/cacsd-cca-isic.2006.4776710 fatcat:dhnp6qbrmzgh5ndkoz7qlem7tm

A Networked Formation Control for Groups of Mobile Robots using Mixed Integer Programming

Thomas Kopfstedt, Masakazu Mukai, Masayuki Fujita, Oliver Sawodny
2006 2006 IEEE International Conference on Control Applications  
In this paper we will demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication.  ...  The effectiveness of our formation control structure and the algorithm for the planning of the trajectory is demonstrated in simulations and experiments which also verify the dynamic models of the robots  ...  CONCLUSION In this paper formation switching for groups of mobile robots using mixed integer programming has been investigated.  ... 
doi:10.1109/cca.2006.285934 fatcat:rmo7npqe2zektmegypxucesvc4

Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach [chapter]

Juan Marcos, Flavio Roberti, Ricardo Carelli, Paolo Fiorini
2008 Recent Advances in Multi Robot Systems  
Acknowledgments The authors gratefully acknowledge SEPCIT (FONCYT) and CONICET of Argentina for partially funding this research.  ...  Stable Formation Control The kinematics model employed in this paper considers formation errors with respect to a Cartesian mobile coordinate system over the leader robot, which Y-axle coincides with the  ...  The work in ) is a very good example of the state of the art in robot formation control, in which it is presented a complete framework to achieve a stable formation for car-like and unicycle-like mobile  ... 
doi:10.5772/5485 fatcat:bp5pybksqngojoynfjqutibd4u

Switching Between Formation in a Moving Shape for Multi-Robots via Synchronization Approach

Ibrahim M.H. Sanhoury, Shamsudin H.M. Amin, Abdul Rashid Husain
2012 Procedia Engineering  
This paper extends the synchronization approach for formation control of multiple mobile robots. In this work, the formation shape is moving in a straight line while it is changing with time.  ...  The proposed synchronous controller guarantees the asymptotic stability of both position errors and synchronization errors.  ...  Acknowledgements The authors would like to thank MOHE and UTM for the Research University Grant (RUG) Tier 1, under the vot no. Q.J130000.2501.02H72 on multi-robotics formation control.  ... 
doi:10.1016/j.proeng.2012.07.229 fatcat:k524jc4dnnhnhnsa5sqlqmoqpm

Leader-follower Formation Control of Mobile Robots with Sliding Mode

Wenhao Zheng, Yingmin Jia
2017 Journal of Robotics, Networking and Artificial Life (JRNAL)  
This paper considers the formation control of nonholonomic mobile robots. The formation problem is converted to the error model based on the leader-follower structure.  ...  Simulation results verify the feasibility and effectiveness of the control strategy.  ...  Introduction Formation control of differential-drive mobile robots have been widely researched in recent years.  ... 
doi:10.2991/jrnal.2017.4.1.3 fatcat:oqg3nntuifdx5hzadrd4bhaury

An algorithm for formation control of mobile robots

Aleksandar Cosic, Marko Susic, Stevica Graovac, Dusko Katic
2013 Serbian Journal of Electrical Engineering  
Kinematic model of differentially driven two-wheeled mobile robot is assumed. Simulation results show the efficiency of the proposed approach.  ...  In order to ensure trajectory tracking, as well as object avoidance, control structure with several controllers of different roles (trajectory tracking, obstacle avoiding, vehicle avoiding and combined  ...  Kinematic Model of Mobile Robot Schematic model of the two-wheeled mobile robot is shown on Fig. 1 .  ... 
doi:10.2298/sjee1301059c fatcat:f3fcaiqnzvepvbtm36gh67tiea

Switching Navigation for a Fleet of Mobile Robots in Multi-Obstacle Regions

Ali Marzoughi
2018 International Journal of Mechanical Engineering and Robotics Research  
This paper presents a collision-free navigation control algorithm for a fleet of mobile robots to traverse an unknown obstacle-ridden environment.  ...  Computer simulation performed confirms the reliability and robustness of the proposed algorithm.   ...  A robust and reliable formation control strategy and path planning of a mobile robot network is required for leading a team of mobile robots to find the safest path, while avoiding collisions among the  ... 
doi:10.18178/ijmerr.8.1.1-5 fatcat:rgtimzkcxfabrowkbwxiutc4bm

Vision-based formation control of mobile robots

Shicai Liu, Dalong Tan, Guangjun Liu
2005 Journal of Control Theory and Applications  
In this paper, a formation control algorithm and an obstacle avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system  ...  Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.  ...  Formation modelling and control In this section, we derive the equations of motion and control algorithm for a formation of two nonholonomic mobile robots as shown in Fig. 1 and show that the internal  ... 
doi:10.1007/s11768-005-0012-7 fatcat:mqj2k5hc6rfezdoafqsnekayiy

A vision-based formation control framework

A.K. Das, R. Fierro, V. Kumar, J.P. Ostrowski, J. Spletzer, C.J. Taylor
2002 IEEE Transactions on Robotics and Automation  
We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators.  ...  There are two key features in our approach: 1) a paradigm for switching between simple decentralized controllers that allows for changes in formation; 2) the use of information from a single type of sensor  ...  Song, and Z. Wang for discussions on multirobot cooperation and control.  ... 
doi:10.1109/tra.2002.803463 fatcat:wb4kg376dngenjgz4zb2izxss4

A new procedure for multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control: mode description and integration principle

Lei Cheng, Wen Xia Xu, Huai Yu Wu, Quan Min Zhu, Yong Ji Wang, Hassan Nouri
2012 International journal of Modeling, identification and control  
To provide a new procedure to avoid collisions and obstacles in the process of multi-robot's sequential flocking, this paper presents the design of a multi-model flocking control for multiple mobile robots  ...  This is the first of two-part paper that investigates the multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control.  ...  Acknowledgements This work was supported in part by the National Science Foundation in China under Grant No. 60705035 and 61075087, this is greatly acknowledged.  ... 
doi:10.1504/ijmic.2012.043939 fatcat:wyx3jokicbegviwdyeeqrjnpnu

Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator

2018 Engineering and Technology Journal  
In this paper, the problem of controlling a group of mobile robots is considered; each one operates with the nonlinear nonholonomic under actuated dynamics.  ...  A coordinated control scheme is designed based on leader-follower(s) method to achieve prescribed formation maneuvers.  ...  The steps for solving this problem are starting by deriving the model of each mobile robot and make it suitable for the controller design process.  ... 
doi:10.30684/etj.36.12a.12 fatcat:2krj2nkdnfd5pkbsdf7sgepu6a

Author Index

2006 2006 14th Mediterranean Conference on Control and Automation  
Embedded Model Control of Multiple Satellite Formation Flying TM1-3 Caponetti, F. A Framework For Simulations and Tests of Mobile Robotics Tasks TM3-5 Caponetto, R.  ...  Modeling and Analysis of a Bacterial Stochastic Switch FLA3-1 Muscato, G. A Direction Dependent Parametric Model for the Vacuum Adhesion System of the Alicia II Robot WM3-4 Muscato, G.  ... 
doi:10.1109/med.2006.328715 fatcat:rjjaot7sdzdsxe2ljxq56lfsdu
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