59,735 research outputs found
Distributed control of multi-robot systems using bifurcating potential fields
The distributed control of multi-robot systems has been shown to have advantages over conventional single robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using bifurcating potential fields. It is shown how various patterns can be achieved through a simple free parameter change. In addition the stability of the system of robots is proven to ensure that desired behaviours always occur
SEBUAH MODEL BERBASIS PENGETAHUAN UNTUK PENGENDALIAN FORMASI SISTEM ROBOT MAJEMUK
Study of multi-robot system has been popular in recent years. This system is able to reduce processing time of some processes, the cost and complexity of the system. However, multi-robot system also has some problems. One of the problems faced by these systems is how to control robots in a certain formation when carrying out its functions. Several methods have been offered to resolve the existing problems. This study tries to offer a method to solve the problem, by modeling the multi-robot systems and implement a control system in order to maintain a specific formation. The study attempted to use a controller based on knowledge base system. Model is developed using MATLAB software and simulated to determine the performance. Several experiments are conducted to determine the movement of the robot and its ability to maintain a specific formation. From the experiments it can be said that the modeling of multiple-robot system has been reliable. In addition, formation control actions have also been running well, although there should be further development
Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration
This paper presents a novel planning method that achieves navigation of
multi-robot formations in cluttered environments, while maintaining the
formation throughout the robots motion. The method utilises a decentralised
approach to find feasible formation parameters that guarantees formation
constraints for rigid formations. The method proves to be computationally
efficient, making it relevant for reactive planning and control of multi-robot
systems formation. The method has been tested in a simulation environment to
prove feasibility and run-time efficiency
A port-Hamiltonian framework for displacement-based and rigid formation control
This thesis is devoted to passivity-based formation control for multi-agent systems. Generally, it aims to establish a port-Hamiltonian framework for the problems related to distributed formation control of multi-agent systems. Regarding the constraints of the formations, the displacement-based formation which is based on consensus theory, and rigid formations whose desired shapes are defined by distance, bearing, angle, or combinations of them are considered. Regarding the control objectives, formation stabilization and some maneuvers, such as velocity tracking, orientation, and scale control are investigated. Concerning the system dynamics, in addition to the double integrators with damping terms, the wheeled robot with nonholonomic constraints is also considered
Automated Formation Control Synthesis from Temporal Logic Specifications
In this paper, we propose a novel framework using formal methods to
synthesize a navigation control strategy for a multi-robot swarm system with
automated formation. The main objective of the problem is to navigate the robot
swarm toward a goal position while passing a series of waypoints. The formation
of the robot swarm should be changed according to the terrain restrictions
around the corresponding waypoint. Also, the motion of the robots should always
satisfy certain runtime safety requirements, such as avoiding collision with
other robots and obstacles. We prescribe the desired waypoints and formation
for the robot swarm using a temporal logic (TL) specification. Then, we
formulate the transition of the waypoints and the formation as a deterministic
finite transition system (DFTS) and synthesize a control strategy subject to
the TL specification. Meanwhile, the runtime safety requirements are encoded
using control barrier functions, and fixed-time control Lyapunov functions
ensure fixed-time convergence. A quadratic program (QP) problem is solved to
refine the DFTS control strategy to generate the control inputs for the robots,
such that both TL specifications and runtime safety requirements are satisfied
simultaneously. This work enlights a novel solution for multi-robot systems
with complicated task specifications. The efficacy of the proposed framework is
validated with a simulation study
Automated Formation Control Synthesis from Temporal Logic Specifications
In this paper, we propose a novel framework using formal methods to synthesize a navigation control strategy for a multi-robot swarm system with automated formation. The main objective of the problem is to navigate the robot swarm toward a goal position while passing a series of waypoints. The formation of the robot swarm should be changed according to the terrain restrictions around the corresponding waypoint. Also, the motion of the robots should always satisfy certain runtime safety requirements, such as avoiding collision with other robots and obstacles. We prescribe the desired waypoints and formation for the robot swarm using a temporal logic (TL) specification. Then, we formulate the transition of the waypoints and the formation as a deterministic finite transition system (DFTS) and synthesize a control strategy subject to the TL specification. Meanwhile, the runtime safety requirements are encoded using control barrier functions, and fixed-time control Lyapunov functions ensure fixed-time convergence. A quadratic program (QP) problem is solved to refine the DFTS control strategy to generate the control inputs for the robots, such that both TL specifications and runtime safety requirements are satisfied simultaneously. This work enlights a novel solution for multi-robot systems with complicated task specifications. The efficacy of the proposed framework is validated with a simulation study
A Survey and Analysis of Cooperative Multi-Agent Robot Systems: Challenges and Directions
Research in the area of cooperative multi-agent robot systems has received wide attention among researchers in recent years. The main concern is to find the effective coordination among autonomous agents to perform the task in order to achieve a high quality of overall performance. Therefore, this paper reviewed various selected literatures primarily from recent conference proceedings and journals related to cooperation and coordination of multi-agent robot systems (MARS). The problems, issues, and directions of MARS research have been investigated in the literature reviews. Three main elements of MARS which are the type of agents, control architectures, and communications were discussed thoroughly in the beginning of this paper. A series of problems together with the issues were analyzed and reviewed, which included centralized and decentralized control, consensus, containment, formation, task allocation, intelligences, optimization and communications of multi-agent robots. Since the research in the field of multi-agent robot research is expanding, some issues and future challenges in MARS are recalled, discussed and clarified with future directions. Finally, the paper is concluded with some recommendations with respect to multi-agent systems
A Survey on Passing-through Control of Multi-Robot Systems in Cluttered Environments
This survey presents a comprehensive review of various methods and algorithms
related to passing-through control of multi-robot systems in cluttered
environments. Numerous studies have investigated this area, and we identify
several avenues for enhancing existing methods. This survey describes some
models of robots and commonly considered control objectives, followed by an
in-depth analysis of four types of algorithms that can be employed for
passing-through control: leader-follower formation control, multi-robot
trajectory planning, control-based methods, and virtual tube planning and
control. Furthermore, we conduct a comparative analysis of these techniques and
provide some subjective and general evaluations.Comment: 18 pages, 19 figure
LiDAR-Based Localization for Formation Control of Multi-Robot Systems
Controlling the formation of several mobile robots allows for the connection of these robots to a larger virtual unit. This enables the group of mobile robots to carry out tasks that a single robot could not perform. In order to control all robots like a unit, a formation controller is required, the accuracy of which determines the performance of the group. As shown in various publications and our previous work, the accuracy and control performance of this controller depends heavily on the quality of the localization of the individual robots in the formation, which itself depends on the ability of the robots to locate themselves within a map. Other errors are caused by inaccuracies in the map. To avoid any errors related to the map or external sensors, we plan to calculate the relative positions and velocities directly from the LiDAR data. To do this, we designed an algorithm which uses the LiDAR data to detect the outline of individual robots. Based on this detection, we estimate the robots pose and combine this estimate with the odometry to improve the accuracy. Lastly, we perform a qualitative evaluation of the algorithm using a Faro laser tracker in a realistic indoor environment, showing benefits in localization accuracy for environments with a low density of landmarks
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