Distributed formation tracking control of multiple mobile robotic systems

Chen, Chun-Yu; Xing, Yifan; Djapic, Vladimir; Dong, Wenjie

doi:10.1109/cdc.2014.7039964

Cited by 4 publications

(2 citation statements)

References 19 publications

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“…For a COTS glider/AUV there are less control inputs than the numbers of the degree of freedom and control of it is challenging due to its underactuated nature and disturbances such as currents. In [2] the algorithms were presented that will be used for formation control of multiple glider/AUVs with uncertainty. It is assumed that there is parametric uncertainty and non-parametric uncertainty in the model of each glider/AUVs and the information of the leader glider/AUVs is available only to a portion of the follower glider/AUVs.…”

Section: Distributed Kalman Filteringmentioning

confidence: 99%

Challenges in underwater navigation: Exploring magnetic sensors anomaly sensing and navigation

Djapic

Dong²,

Bulsara

et al. 2015

2015 IEEE Sensors Applications Symposium (SAS)

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This work combines magnetic field sensing and underwater navigation without the need of a priori maps. The initial work utilizes distributed cooperative localization and control used estimate the states of nodes (autonomous underwater vehicles -AUVs) that carry magnetic sensors. Because of their size, weight, power consumption, and cost fluxgate magnetometers are considered. The distributed estimation method and formation control algorithms allow for the creation of various shapes (vertical, horizontal, and longitudinal) of gradiometer sensor using multiple gliders/AUVs that each carry magnetometers as opposed to traditionally considered arrays on a single AUV. This procedure can be applied in Mine Countermeasures (MCM) -military or unexploded ordnances (UXO) both to detect / localize the anomalies (mines) or cable and pipeline survey -civilian, thus serving as a "payload" sensor. At the same time, the same anomailes can be used as features for navigation corrections.978-1-4799-6117-7/15/$31.00 ©2015 IEEE This full text paper was peer-reviewed at the direction of IEEE Instrumentation and Measurement Society prior to the acceptance and publication.

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Section: Distributed Kalman Filteringmentioning

confidence: 99%

Challenges in underwater navigation: Exploring magnetic sensors anomaly sensing and navigation

Djapic

Dong²,

Bulsara

et al. 2015

2015 IEEE Sensors Applications Symposium (SAS)

Self Cite

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“…The consensus problem of multi-agent systems has great development with its widespread applications in many domains such as sensory networks [1], unmanned air vehicles [2], and mobile robots [3]. However, the traditional control mechanism has the disadvantage of wasting communication resources because of the continuous or periodic sampling, data transmission, and controller updating.…”

Section: Introductionmentioning

confidence: 99%

Network‐to‐network bipartite consensus under event‐triggered control over heterogeneous topologies

Sun

Chen

2022

Asian Journal of Control

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This article investigates the event-triggered control scheme for network-tonetwork consensus problem over heterogeneous topologies. The cooperativecompetitive interactions among agents are considered. A distributed event-triggered control mechanism for the multi-agent system is proposed without requiring continuous inter-neighboring communications. Time-dependent triggering conditions are presented. By using Lyapunov stability theory, the matrix, and the algebraic graph theory, bipartite consensus is proved, and Zeno behavior is excluded. Finally, simulations are provided to prove the effectiveness of the obtained results.

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Distributed Finite-Time Formation Control for Multiple Nonholonomic Mobile Robots

Liu

Chen

2016

Proceedings of 2016 Chinese Intelligent Systems Conference

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Distributed formation tracking control of multiple mobile robotic systems

Cited by 4 publications

References 19 publications

Challenges in underwater navigation: Exploring magnetic sensors anomaly sensing and navigation

Challenges in underwater navigation: Exploring magnetic sensors anomaly sensing and navigation

Network‐to‐network bipartite consensus under event‐triggered control over heterogeneous topologies

Distributed Finite-Time Formation Control for Multiple Nonholonomic Mobile Robots

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