Leader-follower formation control for a group of ROS-enabled mobile robots

Besseghieur, Khadir; Trȩbiński, R.; Kaczmarek, Wojciech; Panasiuk, Jarosław

doi:10.1109/codit.2019.8820460

Cited by 5 publications

(7 citation statements)

References 13 publications

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“…In the field of formation control, conventional studies primarily concentrate on linear environments. Researchers implementing a leader-follower framework heavily depend on precise information about leader-follower relative positions, velocities, and accelerations to establish stable continuous control systems for the follower [17,18,20,21]. In linear environments with seamless robot communication, like flat terrains equipped with wireless networks, leaders easily share position and velocity data with followers.…”

Section: Methodsmentioning

confidence: 99%

“…One of the critical aspects of swarm robotics is formation control, which involves maintaining desired spatial arrangements among the robots as they navigate through their environment. Researchers have approached the formation control problem using various methods, such as the virtual structure method [7][8][9], the behavior-based method [10][11][12], the graph-based method [13,14], the artificial potential method [15,16], and the leader-follower method [17][18][19][20][21][22][23][24]. Among these approaches, the leader-follower method has gained widespread popularity owing to its simplicity.…”

Section: Introductionmentioning

confidence: 99%

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Robot formation control in nonlinear manifold using Koopman operator theory

Wang,

Baba,

Hikihara

2024

NOLTA

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Formation control of multi-agent systems has been a prominent research topic, spanning both theoretical and practical domains over the past two decades. Our study delves into the leader-follower framework, addressing two critical, previously overlooked aspects. Firstly, we investigate the impact of an unknown nonlinear manifold, introducing added complexity to the formation control challenge. Secondly, we address the practical constraint of limited follower sensing range, posing difficulties in accurately localizing the leader for followers. Our core objective revolves around employing Koopman operator theory and Extended Dynamic Mode Decomposition to craft a reliable prediction algorithm for the follower robot to anticipate the leader's position effectively. Our experimentation on an elliptical paraboloid manifold, utilizing two omni-directional wheeled robots, validates the prediction algorithm's effectiveness.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robot formation control in nonlinear manifold using Koopman operator theory

Wang,

Baba,

Hikihara

2024

NOLTA

View full text Add to dashboard Cite

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“…In Baarath et al (24), the authors design a simple robot platooning system by developing a kinematic model of the robots and using a Proportional-Integral-Drivative (PID) controller to control their movement.The numerical simulations of the controller are verified by using a robot following a person. A similar approach is found in Besseghieur et al (17), which also creates a mathematical model of the robots used (TURTLEBOT) to deal with the platooning problem. Based on that, a state-tracking controller is designed and the actual implementation of the robots, based on Robot Operating System (ROS), is described.…”

Section: Robotic Applications In Transport Researchmentioning

confidence: 99%

“…The use of robots in transport research is not new. There are several options for open-source or commercial robotic platforms for research and education available in the literature (14)(15)(16)(17). In most cases, it is fairly easy to develop such robots, since the required parts are off-theshelf or easy to manufacture.…”

Section: Robotic Applications In Transport Researchmentioning

confidence: 99%

Robotic Competitions to Design Future Transport Systems: The Case of JRC AUTOTRAC 2020

Ciuffo

Makridis

Padovan

et al. 2022

Transportation Research Record: Journal of the Transportation R

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Vehicle automation and connectivity bring new opportunities for safe and sustainable mobility in urban and highway networks. Such opportunities are however not directly associated with traffic flow improvements. Research on exploitation of connected and automated vehicles (CAVs) toward a more efficient traffic currently remains at a theoretical level, and/or based on simulation models with limited reliability. Furthermore, testing CAVs in the real world is still costly and very challenging from an implementation perspective. A possible alternative is to use automated robots. By designing and testing both the low- and the high-level controllers of CAVs, it is indeed possible to reach a better understanding of the challenges that future vehicles will need to face. Robotic applications can effectively test these challenges within a wide variety of research communities—for example, via robotic competitions. Along this direction, the Joint Research Centre has organized the first European robotic traffic competition for automated miniature vehicles. Each team participated with four robots and was judged based on a set of indicators that assess the collective behaviors of the vehicles. Results show the suitability of the methodology with different teams proposing completely different approaches to deal with the challenge and thus achieving different results. Future competitions may further raise awareness about the possibility of using CAVs to improve traffic and to engage with a broader community to design systems that are really capable of achieving this goal.

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“…Some very interesting works where the leader-follower formation is used are, for example [19], in which the formation problem is converted to a trajectory tracking problem, where each follower robot tracks its corresponding generated reference trajectory such that the whole group forms and maintains the desired shape. In this work, some experiments were successfully conducted and reported using a group of four TURTLEBOTs.…”

Section: Introductionmentioning

confidence: 99%

Leader-Follower Formation Control of Wheeled Mobile Robots without Attitude Measurements

et al. 2021

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The problem of leader-follower formation of a platoon of differential-drive wheeled mobile robots without using attitude measurements is addressed in this paper. Contrary to the position-distance approaches existing in the literature, the formation and collision avoidance is achieved by introducing a state-dependent delay in the desired trajectory. The delay is obtained as the output of a dynamical system and its magnitude will decrease/increase depending on the distance between the robots. To guarantee trajectory tracking and to overcome the lack of orientation measurements, an output feedback control and attitude observer are proposed based on the kinematic model of the robots. The attitude observer is designed directly on the special orthogonal group SO(2) and it can be used in open-loop schemes. The proposed control-observer scheme ensures asymptotic convergence of the tracking and observer errors. Finally, experimental results are presented to show the performance of the proposed approach.

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Leader-follower formation control for a group of ROS-enabled mobile robots

Cited by 5 publications

References 13 publications

Robot formation control in nonlinear manifold using Koopman operator theory

Robot formation control in nonlinear manifold using Koopman operator theory

Robotic Competitions to Design Future Transport Systems: The Case of JRC AUTOTRAC 2020

Leader-Follower Formation Control of Wheeled Mobile Robots without Attitude Measurements

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