Distributed formation control of multi-robot system with obstacle avoidance

Fuady, Samratul; Ibrahim, Adrianto Ravi; Trilaksono, Bambang Riyanto

doi:10.1109/robionetics.2013.6743585

Cited by 6 publications

(3 citation statements)

References 9 publications

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“…Since repulsive potential obtained from the superposition of all obstacle's potential fields therefore the equation (1), can be written in the following form:…”

Section: The Algorithm Of Choicementioning

confidence: 99%

Cooperative Control of Multi-Agent Systems

Jiang

2020

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“…Since repulsive potential obtained from the superposition of all obstacle's potential fields therefore the equation (1), can be written in the following form:…”

Section: The Algorithm Of Choicementioning

confidence: 99%

Cooperative Control of Multi-Agent Systems

Jiang

2020

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“…The MAS algorithms allow users to control the whole cluster of agents without the need to send commands to each individual agent. This is a critical advantage that is applied in different areas such as, search and rescue missions, satellite formation control, surveillance drones, package delivery robots and military weaponry systems development [1]. In addition, MAS are flexible, and their flexibility allow them to adapt to the dynamic environment.…”

Section: Master Of Science In Electrical Engineeringmentioning

confidence: 99%

Cooperative Control of Multi‐Agent Systems

Wang¹,

García²,

Casbeer³

et al. 2017

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“…BECHLIOULIS C P et al [22] proposed a decentralized control protocol with minimal complexity to solve the distance-based formation control problem of multiple autonomous underwater vehicles in a leader-follower architecture. FUADY S et al [23] solved the problem of distributed formation control with obstacle avoidance using the consensus method and designed a formation center estimator for the consensus algorithm. ZHANG S et al [24] combined consensus with the leader-follower method to design a formation control algorithm.…”

Section: Introductionmentioning

confidence: 99%

Formation Transformation Method for UUV Group to Approach a Static Target

Yin,

Yan,

Hou

2023

JMSE

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The unmanned underwater vehicle (UUV) group composed of UUVs carrying different kinds of detection equipment is powerful for underwater target searching and detection. In this paper, a formation transformation method, used while the mission of the UUV group transformed from searching to detecting, is proposed. Firstly, a new formation transformation strategy, in which the UUVs converged to their detection points followed by the aggregation points achieved, is proposed to improve the safety of UUVs during transformation. Following the proposed strategy, particle swarm optimization is employed to find the optimal aggregation points. Finally, possible collisions between UUVs and collisions between UUVs and targets are avoided by adding a collision avoidance algorithm based on a virtual torque field. The model prediction is used to solve the delay problem of underwater communication, and the communication results are used to correct the model prediction results. The test shows that the method is effective. The effectiveness of the proposed method is demonstrated using two simulation examples.

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Distributed formation control of multi-robot system with obstacle avoidance

Cited by 6 publications

References 9 publications

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi‐Agent Systems

Formation Transformation Method for UUV Group to Approach a Static Target

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