9,849 research outputs found
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
A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
Control of one-dimensional guided formations using coarse information
Motivated by applications in intelligent highway systems, the paper studies
the problem of guiding mobile agents in a one-dimensional formation to their
desired relative positions. Only coarse information is used which is
communicated from a guidance system that monitors in real time the agents'
motions. The desired relative positions are defined by the given distance
constraints between the agents under which the overall formation is rigid in
shape and thus admits locally a unique realization. It is shown that even when
the guidance system can only transmit at most four bits of information to each
agent, it is still possible to design control laws to guide the agents to their
desired positions. We further delineate the thin set of initial conditions for
which the proposed control law may fail using the example of a three-agent
formation. Tools from non-smooth analysis are utilized for the convergence
analysis.Comment: 13 pages, 4 figure
Multi-bot Easy Control Hierarchy
The goal of our project is to create a software architecture that makes it possible to easily control a multi-robot system, as well as seamlessly change control modes during operation. The different control schemes first include the ability to implement on-board and off-board controllers. Second, the commands can specify either actuator level, vehicle level, or fleet level behavior. Finally, motion can be specified by giving a waypoint and time constraint, a velocity and heading, or a throttle and angle. Our code is abstracted so that any type of robot - ranging from ones that use a differential drive set up, to three-wheeled holonomic platforms, to quadcopters - can be added to the system by simply writing drivers that interface with the hardware used and by implementing math packages that do the required calculations. Our team has successfully demonstrated piloting a single robots while switching between waypoint navigation and a joystick controller. In addition, we have demonstrated the synchronized control of two robots using joystick control. Future work includes implementing a more robust cluster control, including off-board functionality, and incorporating our architecture into different types of robots
Robot swarming applications
This paper discusses the different modes of operation of a swarm of robots: (i) non-communicative swarming, (ii) communicative swarming, (iii) networking, (iv) olfactory-based navigation and (v) assistive swarming. I briefly present the state of the art in swarming and outline the major techniques applied for each mode of operation and discuss the related problems and expected results
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