69,139 research outputs found
Route Swarm: Wireless Network Optimization through Mobility
In this paper, we demonstrate a novel hybrid architecture for coordinating
networked robots in sensing and information routing applications. The proposed
INformation and Sensing driven PhysIcally REconfigurable robotic network
(INSPIRE), consists of a Physical Control Plane (PCP) which commands agent
position, and an Information Control Plane (ICP) which regulates information
flow towards communication/sensing objectives. We describe an instantiation
where a mobile robotic network is dynamically reconfigured to ensure high
quality routes between static wireless nodes, which act as source/destination
pairs for information flow. The ICP commands the robots towards evenly
distributed inter-flow allocations, with intra-flow configurations that
maximize route quality. The PCP then guides the robots via potential-based
control to reconfigure according to ICP commands. This formulation, deemed
Route Swarm, decouples information flow and physical control, generating a
feedback between routing and sensing needs and robotic configuration. We
demonstrate our propositions through simulation under a realistic wireless
network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on
Intelligent Robots and Systems (IROS) 201
Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance
This paper addresses the problem of position- and orientation-based formation
control of a class of second-order nonlinear multi-agent systems in a D
workspace with obstacles. More specifically, we design a decentralized control
protocol such that each agent achieves a predefined geometric formation with
its initial neighbors, while using local information based on a limited sensing
radius. The latter implies that the proposed scheme guarantees that the
initially connected agents remain always connected. In addition, by introducing
certain distance constraints, we guarantee inter-agent collision avoidance as
well as collision avoidance with the obstacles and the boundary of the
workspace. The proposed controllers employ a novel class of potential functions
and do not require a priori knowledge of the dynamical model, except for
gravity-related terms. Finally, simulation results verify the validity of the
proposed framework
Formation of Multiple Groups of Mobile Robots Using Sliding Mode Control
Formation control of multiple groups of agents finds application in large
area navigation by generating different geometric patterns and shapes, and also
in carrying large objects. In this paper, Centroid Based Transformation (CBT)
\cite{c39}, has been applied to decompose the combined dynamics of wheeled
mobile robots (WMRs) into three subsystems: intra and inter group shape
dynamics, and the dynamics of the centroid. Separate controllers have been
designed for each subsystem. The gains of the controllers are such chosen that
the overall system becomes singularly perturbed system. Then sliding mode
controllers are designed on the singularly perturbed system to drive the
subsystems on sliding surfaces in finite time. Negative gradient of a potential
based function has been added to the sliding surface to ensure collision
avoidance among the robots in finite time. The efficacy of the proposed
controller is established through simulation results.Comment: 8 pages, 5 figure
Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
This paper addresses the problem of distance- and orientation-based formation
control of a class of second-order nonlinear multi-agent systems in 3D space,
under static and undirected communication topologies. More specifically, we
design a decentralized model-free control protocol in the sense that each agent
uses only local information from its neighbors to calculate its own control
signal, without incorporating any knowledge of the model nonlinearities and
exogenous disturbances. Moreover, the transient and steady state response is
solely determined by certain designer-specified performance functions and is
fully decoupled by the agents' dynamic model, the control gain selection, the
underlying graph topology as well as the initial conditions. Additionally, by
introducing certain inter-agent distance constraints, we guarantee collision
avoidance and connectivity maintenance between neighboring agents. Finally,
simulation results verify the performance of the proposed controllers.Comment: IFAC Word Congress 201
Flocking with Obstacle Avoidance
In this paper, we provide a dynamic graph theoretical framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs. We provide models of nets and flocks and discuss the realization/embedding issues related to structural nets and flocks. This allows task representation and execution for a network of agents called alpha-agents. We also consider flocking in the presence of multiple obstacles. This task is achieved by introducing two other types of agents called beta-agents and gamma-agents. This framework enables us to address split/rejoin and squeezing maneuvers for nets/flocks of dynamic agents that communicate with each other. The problems arising from switching topology of these networks of mobile agents make the analysis and design of the decision-making protocols for such networks rather challenging. We provide simulation results that demonstrate the effectiveness of our theoretical and computational tools
Safe, Remote-Access Swarm Robotics Research on the Robotarium
This paper describes the development of the Robotarium -- a remotely
accessible, multi-robot research facility. The impetus behind the Robotarium is
that multi-robot testbeds constitute an integral and essential part of the
multi-agent research cycle, yet they are expensive, complex, and time-consuming
to develop, operate, and maintain. These resource constraints, in turn, limit
access for large groups of researchers and students, which is what the
Robotarium is remedying by providing users with remote access to a
state-of-the-art multi-robot test facility. This paper details the design and
operation of the Robotarium as well as connects these to the particular
considerations one must take when making complex hardware remotely accessible.
In particular, safety must be built in already at the design phase without
overly constraining which coordinated control programs the users can upload and
execute, which calls for minimally invasive safety routines with provable
performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference
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