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A Comparison of Different Approaches for Formation Control of Nonholonomic Mobile Robots regarding Object Transport

Tobias Recker, Malte Heinrich, Annika Raatz
2021 Procedia CIRP  
This enables a group of mobile robots to carry out tasks that a single robot could not perform.  ...  Abstract Controlling the formation of several mobile robots allows for the connection of these robots to a large virtual unit.  ...  /locate/procedia CIRPe 2020 -8th CIRP Global Web Conference -Flexible Mass Customisation A Comparison of Different Approaches for Formation Control of Nonholonomic Mobile Robots regarding Object Transport  ... 
doi:10.1016/j.procir.2021.01.082 fatcat:7jyndcwpuza53mho4bisazlu4q

Guest editorial advances in multirobot systems

T. Arai, E. Pagello, L.E. Parker
2002 IEEE Transactions on Robotics and Automation  
This special issue on Multi-Robot Systems provides a broad sampling of the research that is currently ongoing in the field of distributed mobile robot systems.  ...  We conclude by identifying several additional open research issues in distributed mobile robotic systems.  ...  coordinating a group of nonholonomic mobile robots.  ... 
doi:10.1109/tra.2002.806024 fatcat:tdxuauo6qjfepjiyqd542b73ji

Control of cooperating mobile manipulators

T.G. Sugar, V. Kumar
2002 IEEE Transactions on Robotics and Automation  
We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible  ...  The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously.  ...  We focus on tasks that simply cannot be performed by a single mobile robot. As examples, consider the transportation of the large box or the flexible board shown in Fig. 1 .  ... 
doi:10.1109/70.988979 fatcat:wpnyhz226vco5kaomcoq4tidme

Screw-theoretic analysis framework for cooperative payload transport by mobile manipulator collectives

Chin Pei Tang, R.M. Bhatt, M. Abou-Samah, V. Krovi
2006 IEEE/ASME transactions on mechatronics  
In this paper, we examine this aspect in the context of cooperative payload transport by robot collectives wherein the physical nature of the interactions between the various modules creates a tight coupling  ...  The composite multi-degree-offreedom (DOF) wheeled vehicle, formed by supporting a common payload on the end-effectors of multiple individual mobile manipulator modules, is treated as an in-parallel system  ...  [17] implemented the passive velocity field control approach for the cooperative control of multiple mobile robots holding an object.  ... 
doi:10.1109/tmech.2006.871092 fatcat:unovpjxicfdipjpyg74chhamde

Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

Bibhya Sharma, Jito Vanualailai, Shonal Singh
2015 Robotica (Cambridge. Print)  
SUMMARYThe paper considers the problem of motion planning and posture control of multiplen-link doubly nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace.  ...  Our approach to developing the controllers, which are novel decentralized nonlinear acceleration controllers, is based on a Lyapunov control scheme that is not only intuitively understandable but also  ...  Acknowledgment The authors would like to thank the referees and Professor Jun-Hong Ha, of Korea University of Technology and Education, for their comments which have led to an improvement in content and  ... 
doi:10.1017/s0263574714002604 fatcat:mampvyvovzbvtmubq2adpvpyfm

Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

Zhaoxia Peng, Shichun Yang, Guoguang Wen, Ahmed Rahmani
2014 Mathematical Problems in Engineering  
This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics.  ...  Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers  ...  Acknowledgments The authors would like to thank the associate editor and the anonymous reviewers for their valuable comments and suggestions that have improved the presentation of this paper.  ... 
doi:10.1155/2014/670497 fatcat:gih7hm633zbcjhuz2ygtojqvc4

Consensus-based formation control and obstacle avoidance for nonholonomic multi-robot system

Daravuth Koung, Isabelle Fantoni, Olivier Kermorgant, Lamia Belouaer
2020 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)  
This paper presents a consensus control law for formation with navigation and obstacle avoidance of multiple wheeled mobile robots.  ...  Managing multiple robots into a formation can be beneficial, especially in logistics sectors where multiple robots can work together to transport larger loads.  ...  Fig. 1 : 1 Formation control and obstacle avoidance. Fig. 2 : 2 Obstacles denoted by agent-based approach: (a) wall (b) spherical obstacles [9] . Fig. 3 : 3 A nonholonomic wheeled mobile robot.  ... 
doi:10.1109/icarcv50220.2020.9305426 fatcat:qc3dd6pvbbg4ff5bcjqyc2alsu

Formation Control of Mobile Robots

Dang Binh Nguyen, Khac Duc Do
2006 International Journal of Computers Communications & Control  
The proposed controller development is also extended to formation control of nonholonomic mobile robots.  ...  A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions  ...  Extension to formation control of nonholonomic mobile robots Control of single nonholonomic mobile robots receives considerable attention, and is complicated due to the fact that they have less controls  ... 
doi:10.15837/ijccc.2006.3.2294 fatcat:ifnniljpubbg5mnorqdr2z3zfm

Navigation Function Based Decentralized Control of A Multi-Agent System with Network Connectivity Constraints [article]

Zhen Kan, John M. Shea, Warren E. Dixon
2014 arXiv   pre-print
By modeling network connectivity constraints as artificial obstacles in navigation functions, a decentralized control strategy is presented in two particular applications, formation control and rendezvous  ...  The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to independently navigate to ensure agents achieve a collective goal while  ...  Furthermore, while multiple informed robots may be used for rendezvous, the analysis and results of this work are focused on a single informed robot.  ... 
arXiv:1402.5951v1 fatcat:acsynisgmjc7va6kybuagj2uwq

A Computationally Efficient Path Planner for a Collection of Wheeled Mobile Robots with Limited Sensing Zones

Turker Sahin, Erkan Zergeroglu
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
Path planning for formations of wheeled mobile robots (WMRs) has been an active research topic of robotics in the recent years.  ...  The efficiency of our technique is verified by simulation results.  ...  INTRODUCTION Smooth path generation for nonholonomic single and multiple wheeled mobile robots (WMRs) is being researched significantly in the recent years.  ... 
doi:10.1109/robot.2007.363127 dblp:conf/icra/SahinZ07 fatcat:gz6dub75jvaetejv7u5qjtxkb4

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  ...  Wang for discussions on multirobot cooperation and control.  ... 
doi:10.1109/tra.2002.803463 fatcat:wb4kg376dngenjgz4zb2izxss4

Hierarchical Decentralized LQR Control for Formation-Keeping of Cooperative Mobile Robots in Material Transport Tasks

Hendi Wicaksono Agung, Itthisek Nilkhamhang
2021 Engineering Journal  
tion control of nonholonomic mobile robots,” in 2020 IEEE ANDESCON, 2020, pp. 1–6. [38] Y. Liu and Y. Jia, “H ∞ consensus control for [28] C. C. Loh and A.  ...  Article Hierarchical Decentralized LQR Control for Formation-Keeping of Cooperative Mobile Robots in Material Transport Tasks Hendi Wicaksono Agunga and Itthisek Nilkhamhangb,* School of Information, Computer  ... 
doi:10.4186/ej.2021.25.12.37 fatcat:sq76fdfttzbwllieq7sbkdjhnu

Motion planning for cooperative unicycle-type mobile robots with limited sensing ranges: A distributed receding horizon approach

Michael Defoort, Annemarie Kokosy, Thierry Floquet, Wilfrid Perruquetti, Jorge Palos
2009 Robotics and Autonomous Systems  
This paper presents a decentralized motion planner for a formation of autonomous mobile robots evolving in an unknown environment with obstacles.  ...  The main requirement for designing an optimal conflict-free trajectory in a decentralized way, is that each robot does not deviate too far from its assumed trajectory designed without taking the coupling  ...  Co-operative control of multiple vehicles gives rise to significant theoretical challenges and has various engineering applications including cooperative transportation of a large payload [18] , formation  ... 
doi:10.1016/j.robot.2009.07.004 fatcat:7vmwlfyevzen3k6hwx6togabga

Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

P. Paniagua-Contro, E. G. Hernandez-Martinez, O. González-Medina, J. González-Sierra, J. J. Flores-Godoy, E. D. Ferreira-Vazquez, G. Fernandez-Anaya
2019 Mathematical Problems in Engineering  
The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology.  ...  This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots.  ...  Supplementary Materials Supplemental material has included a short video of the second experiment with 5 agents. In this case, the leader robot  ... 
doi:10.1155/2019/4957259 fatcat:zzoww2n33zcttox2tpe2oklrm4

Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Iwona Pajak
2018 Journal of Intelligent and Robotic Systems  
This paper deals with the real-time trajectory generation problem for two cooperating mobile robots moving the common rigid object.  ...  A computer example involving two mobile manipulators consisting of nonholonomic platform (2,0) class and planar 3-DOF holonomic manipulator is presented.  ...  In [13] a decentralized hybrid position/force controller has been presented for the control of multiple tightly coupled manipulators handling a common object.  ... 
doi:10.1007/s10846-018-0878-5 fatcat:43hdsektuzfsfptjazhzuh5uli
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