Connectivity Preservation and Obstacle Avoidance in Small Multi-Spacecraft Formation with Distributed Adaptive Tracking Control

Chen, Zhongyuan; Emami, M. Reza; Chen, Wanchun

doi:10.1007/s10846-020-01269-y

Cited by 12 publications

(4 citation statements)

References 57 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Note that Equations ( 19) and ( 20) take the same form as the system in (2). With the same Lyapunov function candidate as Equation (17), it can be proven by similar analysis that the set O possesses asymptotic stability for the system composed of Equations ( 19) and (20).…”

Section: Twistor-based Finite-time Control Law Designmentioning

confidence: 97%

See 1 more Smart Citation

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Guo,

Chen,

Zhang

et al. 2023

Electronics

View full text Add to dashboard Cite

For integrated pose control of six-degree-of-freedom (6-DOF) leader–following spacecraft formations, the coupled relative pose between two spacecraft is described by a unified model in the framework of twistors, based on which a finite-time control law is devised for the 6-DOF dynamic system. Firstly, some necessary coordinate frames are defined, and then, relative 6-DOF dynamics of the follower spacecraft with respect to the desired frame are modeled by using twistors. Secondly, an integrated pose controller is designed for the 6-DOF formation that takes full advantage of homogeneous theory to guarantee finite-time stability. Finally, numerical simulations are carried out to validate the effectiveness of the proposed controller. Developing integrated 6-DOF formation control law based on twistors is more straightforward than conventional methods, and the finite-time algorithm achieves stronger robustness than asymptotic ones.

show abstract

Section: Twistor-based Finite-time Control Law Designmentioning

confidence: 97%

“…Due to the increasingly demanding requirements of future space missions, space technology is encountering an increasing number of challenges as it progresses [1]. More and more attention is being paid to 6-DOF spacecraft formations because plenty of lowcost satellites are being sent to space to work cooperatively [2]. Ref.…”

Section: Introductionmentioning

confidence: 99%

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Guo,

Chen,

Zhang

et al. 2023

Electronics

View full text Add to dashboard Cite

show abstract

“…Swarm robotic systems (SRSs) represent teams of large number of robots that collaborate to accomplish complex tasks [1][2][3][4] such as environmental monitoring [5], collective perception [6], and exploration [7]. Collaboration is, typically, achieved through exchange of information amongst the member robots as well as between the robots and possible external infrastructure via wireless communication devices and/or onboard sensors [8][9][10][11][12][13][14][15]. In order to achieve effective communication, however, swarm members must maintain a desired degree of connectivity, which specifies for each member what other teammates and/or external infrastructure it should be able to communicate with (e.g., [16]).…”

Section: Introductionmentioning

confidence: 99%

Restoring Connectivity in Robotic Swarms – A Probabilistic Approach

Eshaghi,

Sari,

Haigh

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

Connectivity is an integral trait for swarm robotic systems to enable effective collaboration between the robots in the swarm. However, connectivity can be lost due to events that could not have been a priori accounted for. This paper presents a novel probabilistic connectivity-restoration strategy for swarms with limited communication capabilities. Namely, it is assumed that the swarm comprises a group of follower robots whose global connectivity to a base can only be achieved via a localized leader robot. In this context, the proposed strategy incrementally restores swarm connectivity by searching for the lost robots in regions-of-interest (RoIs) determined using probability theory. Once detected, newly found robots are either recruited to help the leader in the restoration process, or directly guided to their respective destinations through accurate localization and corrective motion commands. The proposed swarm-connectivity strategy, thus, comprises the following three stages: (i) identifying a discrete set of optimal RoIs, (ii) visitation of these RoIs, by the leader robot, via an optimal inter-region search path, and (iii) searching for lost robots within the individual RoIs via an optimal intra-region search path. The strategy is novel in its use of a probabilistic approach to guide the leader robot’s search as well as the potential recruitment of detected lost robots to help in the restoration process. The effectiveness of the proposed probabilistic swarm connectivity-restoration strategy is represented, herein, through a detailed simulated experiment. The significant efficiency of the strategy is also illustrated numerically via a comparison to a competing random-walk based method.

show abstract

“…Autonomous robots have become popular in the last decades since they improve the success rate of operations executed in the industry. Building up multi-robot autonomous systems can even upgrade the performance in the sense of cooperative task deployments including surveillance [1], search and delivery [2], agriculture [3], and space missions [4], [5]. When working with cooperative robotic systems, specifically in the object transportation area, three types of control strategy: 1) Formation Control, 2) Coordinated Impedance Control, and 3) Task Sequencing are observed [6].…”

Section: Introductionmentioning

confidence: 99%

A Non-Contact Object Delivery System Using Leader-Follower Formation Control for Multi-Robots

Dokuyucu,

Özmen

2023

ijamec

View full text Add to dashboard Cite

Rapid improvements in the area of multi-robot control algorithms pave the way to design and implement robotic swarms to deal with sophisticated tasks including intelligent object transportation systems. It is crucial to manage the structure of the numerous robots to behave like a whole body for task accomplishment. The leader-follower formation control approach offers a simple and reliable way of keeping the swarm formation in appropriate limits to cope with challenging tasks. Autonomous object transportation with multi-robot systems enjoy the benefits of the leader-follower formation control approach. However, most of the developed transportation systems achieve the task by locating the load onto the robots or by pushing the load in the means of a physical contact. These approaches may lead to a hardware or payload damage due to heavy loads or physical contacts respectively. In this study, a novel non-contact object delivery system is introduced for eliminating the drawbacks of physical contact between the robots and the payload. Permanent magnets are used for propulsion of the payload located on a cart with passive casters. The stability of the proposed multi-robot system is satisfied by a formation controller using potential functions method augmented with a cornering action sub-controller. The simulation results verify the effectiveness of the proposed system during a straight motion and cornering with the root mean square values of the distance between the robots as 1.46 × 10-4 [m] and 0.065 [m] respectively.

show abstract

Connectivity Preservation and Obstacle Avoidance in Small Multi-Spacecraft Formation with Distributed Adaptive Tracking Control

Cited by 12 publications

References 57 publications

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Restoring Connectivity in Robotic Swarms – A Probabilistic Approach

A Non-Contact Object Delivery System Using Leader-Follower Formation Control for Multi-Robots

Contact Info

Product

Resources

About