291 research outputs found
Comprehensive review on controller for leader-follower robotic system
985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies
An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
This article reviews some main results and progress in distributed
multi-agent coordination, focusing on papers published in major control systems
and robotics journals since 2006. Distributed coordination of multiple
vehicles, including unmanned aerial vehicles, unmanned ground vehicles and
unmanned underwater vehicles, has been a very active research subject studied
extensively by the systems and control community. The recent results in this
area are categorized into several directions, such as consensus, formation
control, optimization, task assignment, and estimation. After the review, a
short discussion section is included to summarize the existing research and to
propose several promising research directions along with some open problems
that are deemed important for further investigations
Distributed Cooperative Autonomous Driving of Intelligent Vehicles Based on Spring-Damper Energy System
Distributed cooperative control of autonomous
vehicle platoons has been widely considered as a potential
solution for reducing traffic congestion, increasing road capacity
and improving traffic safety. However, in the real-world implementation, sudden communication loss will degrade cooperative
adaptive cruise control to adaptive cruise control, which may
bring negative influences on safety (i.e., increase the risk of
collisions). To overcome this limitation, this paper innovatively
applies a spring-damper energy system to construct a robust
leader-following vehicle platoon system. The special design of
the energy system ensures that the stability and safety of
the platoon system are maintained in the event of a sudden
degradation. Based on the proposed energy model, a distributed
control protocol is developed. The distributed control protocol
achieves speed synchronisation of vehicle platoon and ensures
that the following distance is safe over dynamic communication
networks. Finally, the effectiveness of the proposed control
strategy is validated by simulation experiments
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