Decentralized Rendezvous of Nonholonomic Robots With Sensing and Connectivity Constraints

Kan, Zhen; Klotz, Justin R.; Shea, John M.; Doucette, Emily A.; Dixon, Warren E.

doi:10.1115/1.4034745

Cited by 20 publications

(13 citation statements)

References 40 publications

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“…2 evolving over G, where Q represents the node set V, and the possible transitions δ are captured by the edge set E. The DTS T can effectively capture the robot high-level motion and greatly reduce the complexity of control design, since many existing continuous feedback controllers (cf. [37]- [39]) can translate the discrete motions over G to continuous motions in the real environment.…”

Section: A Environment and Robot Modelmentioning

confidence: 99%

Receding Horizon Control Based Online Motion Planning with Partially Infeasible LTL Specifications

Cai,

Peng,

et al. 2020

Preprint

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This work considers online optimal motion planning of an autonomous agent subject to linear temporal logic (LTL) constraints. The environment is dynamic in the sense of containing mobile obstacles and time-varying areas of interest (i.e., time-varying reward and workspace properties) to be visited by the agent. Since user-specified tasks may not be fully realized (i.e., partially infeasible), this work considers hard and soft LTL constraints, where hard constraints enforce safety requirement (e.g. avoid obstacles) while soft constraints represent tasks that can be relaxed to not strictly follow user specifications. The motion planning of the agent is to generate policies, in decreasing order of priority, to 1) formally guarantee the satisfaction of safety constraints; 2) mostly satisfy soft constraints (i.e., minimize the violation cost if desired tasks are partially infeasible); and 3) optimize the objective of rewards collection (i.e., visiting dynamic areas of more interests). To achieve these objectives, a relaxed product automaton, which allows the agent to not strictly follow the desired LTL constraints, is constructed. A utility function is developed to quantify the differences between the revised and the desired motion plan, and the accumulated rewards are designed to bias the motion plan towards those areas of more interests. Receding horizon control is synthesized with an LTL formula to maximize the accumulated utilities over a finite horizon, while ensuring that safety constraints are fully satisfied and soft constraints are mostly satisfied. Simulation and experiment results are provided to demonstrate the effectiveness of the developed motion strategy.

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Section: A Environment and Robot Modelmentioning

confidence: 99%

Receding Horizon Control Based Online Motion Planning with Partially Infeasible LTL Specifications

Cai,

Peng,

et al. 2020

Preprint

Self Cite

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show abstract

“…), they may give way to undesirable behavior, such as oscillations. In [7] and [8] a navigation-function-based time-varying controller with connectivity maintenance is proposed, respectively, for undirected and directed graphs; nevertheless, it presents some problems inherent to the navigation-function framework such as local minima and the need to have a bounded workspace. In [9] and [10] connectivity-preserving controllers are proposed, respectively, for undirected and leader-follower topologies based on barrier functions.…”

Section: Introductionmentioning

confidence: 99%

Leader-Follower Consensus of Unicycles With Communication Range Constraints via Smooth Time-Invariant Feedback

Restrepo

Lorı́a²,

Sarras³

et al. 2021

IEEE Control Syst. Lett.

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We solve the full-consensus problem (in position and orientation) with connectivity maintenance for multiple nonholonomic vehicles in a leader-follower configuration. We rely on a polar-coordinates based model which is more natural for the problem setting. The proposed control law is smooth (in the domain of definition) time-invariant and uses only relative measurements, making it more suited for implementation. We establish asymptotic convergence to the consensus manifold as well as connectivity maintenance using the Lyapunov's first method and cascaded systems theory. In addition, we illustrate our theoretical contributions experimentally.

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“…In [26,27], formation control approaches using potential-like functions were presented. In [28], a dipolar navigation function was introduced to design the formation controller. In [29], a formation tracking method was proposed to avoid obstacles while maintaining connectivity.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Secure Control for Leader-Follower Formation of Nonholonomic Mobile Robots in the Presence of Uncertainty and Deception Attacks

Park

Yoo

2021

Mathematics

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This paper addresses an adaptive secure control problem for the leader-follower formation of nonholonomic mobile robots in the presence of uncertainty and deception attacks. It is assumed that the false data of the leader robot’s information attacked by the adversary is transmitted to the follower robot through the network, and the dynamic model of each robot has uncertainty, such as unknown nonlinearity and external disturbances. A robust, adaptive secure control strategy compensating for false data and uncertainty is developed to accomplish the desired formation of nonholonomic mobile robots. An adaptive compensation mechanism is derived to remove the effects of time-varying attack signals and system uncertainties in the proposed control scheme. Although unknown deception attacks are injected to the leader’s velocities and the model nonlinearities of robots are unknown, the boundedness and convergence of formation tracking errors of the proposed adaptive control system are analyzed in the Lyapunov sense. The validity of the proposed scheme is verified via simulation results.

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Decentralized Rendezvous of Nonholonomic Robots With Sensing and Connectivity Constraints

Cited by 20 publications

References 40 publications

Receding Horizon Control Based Online Motion Planning with Partially Infeasible LTL Specifications

Receding Horizon Control Based Online Motion Planning with Partially Infeasible LTL Specifications

Leader-Follower Consensus of Unicycles With Communication Range Constraints via Smooth Time-Invariant Feedback

Adaptive Secure Control for Leader-Follower Formation of Nonholonomic Mobile Robots in the Presence of Uncertainty and Deception Attacks

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