Experiments of Formation Control With Multirobot Systems Using the Null-Space-Based Behavioral Control

Abstract

Abstract-In this paper, the experimental validation of a behavior-based technique for multirobot systems (MRSs), namely, the Null-Space-based Behavioral (NSB) control, is presented. The NSB strategy, inherited from the singularity-robust task-priority inverse kinematics for industrial manipulators, has been recently proposed for the execution of different formation-control missions with MRSs. In this paper, focusing on the experimental details, the validation of the approach is achieved by performing different experimental missions, in presence of static and dynamic obstacles, with a team of grounded mobile robots available at the Laboratorio di Automazione Industriale of the Università degli Studi di Cassino.

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

“…It is possible to prove (the proof is omitted for brevity) that commands (25)(26) will result inṗ 1 = R 1 ν,ψ 1 = w, anḋ δ 12 = s for agent 1, and in exactly those coordinated motions preserving all the relative bearings, for all the remaining agents i = 2 . .…”

“…N, We note that, again, control (25)(26)) is a function of only bearing measurements (using Properties 1 and 2) with the exception of the unique metric quantity δ 12 . This is in fact needed in (25) to correctly implement a synchronized group rotation. If δ 12 is available through direct measurement or online estimation, then (25) can be exactly implemented.…”

“…This is in fact needed in (25) to correctly implement a synchronized group rotation. If δ 12 is available through direct measurement or online estimation, then (25) can be exactly implemented. If the distance δ 12 is not available then it can be replaced with an arbitrary initial guessδ 12 > 0, e.g., chosen by a high-level planner or a human co-operator.…”

Cooperative caging using autonomous aquatic surface vehicles

“…The null-space projection matrix of a task, in fact, filters out the velocity component of the lower priority tasks that would effect its functionality. A detailed description of this approach extends beyond the scope of this paper, however details can be found in [6], [4], while in [5] its stability properties are discussed. In the following, we briefly recall the main equations of the approach.…”

Cooperative control of a heterogeneous multi-robot system based on relative localization

“…In [4], the idea that a multi-robot system can be modeled and controlled as a redundant robotic system was introduced, and a solution based on the task-priority paradigm was proposed in [5] to perform different control actions simultaneously. The same concept was used in [6] to design specific tasks for a platoon of autonomous vehicles, which was successfully tested in a real scenario in [7]. The specific problem of keeping multiple point inside a camera FOV has already been addressed.…”