Non-collision conditions in multi-agent robots formation using local potential functions

Hernández‐Martínez, Eduardo Gamaliel; Aranda-Bricaire, E.

doi:10.1109/robot.2008.4543790

Cited by 13 publications

(11 citation statements)

References 9 publications

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“…This solution produces symmetric expressions for the distances between agents and hence allows obtaining a result similar to Theorem 2. This result has been reported for the case of three robots only in [22]. …”

Section: Non-collision Conditionssupporting

confidence: 81%

Non-Collision Conditions in Multi-Agent Virtual Leader-Based Formation Control

Hernández‐Martínez

Bricaire

2012

International Journal of Advanced Robotic Systems

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Formation control is one of the most important issues of group coordination for multi-agent robots systems. Some schemes are based on the leaderfollowers approach where some robots are considered as group leaders which influence the group behaviour. In this work, we address a formation strategy using a virtual leader which has communication with the rest of the follower robots, considered as omnidirectional robots. The virtual leader approach presents advantages such as analysis simplification and fewer sensing requirements in the control law implementation. The formation control is based on attractive potential functions only. The control law guarantees the convergence to the desired formation but, in principle, does not avoid inter-agent collisions. A set of necessary and sufficient non-collision conditions based on the explicit solution of the closed-loop system is derived. The conditions allow concluding from the initial conditions whether or not the agents will collide. The results are extended to the case of unicycle-type robots.

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Section: Non-collision Conditionssupporting

confidence: 81%

Non-Collision Conditions in Multi-Agent Virtual Leader-Based Formation Control

Hernández‐Martínez

Bricaire

2012

International Journal of Advanced Robotic Systems

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“…After applying a transformation to the unicycle model [12], and assuming additive disturbances, each agent a j can be modeled as a perturbed single integrator:…”

Section: Problem Statementmentioning

confidence: 99%

Event-based motion coordination of multiple underwater vehicles under disturbances

Teixeira

Dimarogonas

Johansson

et al. 2010

Oceans'10 Ieee Sydney

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The problem of driving a formation from an initial to a target configuration while under the effect of external disturbances is studied. Additional restrictions on agent sensing as well as inter-agent communication must be satisfied. We present a leader-follower solution that relies on a simple uncertainty model to trigger surfacing events. These events are then used to update the control signal, for which two different, provably correct, control strategies are proposed. Finally, we show how the surfacing events can be used to characterize the disturbance set. Numerical examples on relevant scenarios are also provided.© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Qc 2012021

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“…It is simple to prove the convergence to the desired formation with a control law based on these attractive vector field only [17], i.e.ż i = u i = γ i , i = 1, 2 . However, collisions between agents R 1 and R 2 can occur.…”

Section: Formation Control Strategymentioning

confidence: 99%

Multi-agent formation control with collision avoidance based on discontinuous vector fields

Hernández‐Martínez

Aranda-Bricaire

2009

2009 35th Annual Conference of IEEE Industrial Electronics

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A novel formation control strategy with collision avoidance is presented for the case of two point robots moving in the plane. The control law is based on the design of attractive and repulsive vector fields which guarantee the non-existence of undesired equilibria. The strategy falls in a variable structure control approach which guarantees convergence to the desired formation and non-collision for all initial conditions. The results are extended to the case of formation of unicycles. The performance of the proposed strategy is evaluated over an experimental set-up consisting of two unicycle-type robots.

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Non-collision conditions in multi-agent robots formation using local potential functions

Cited by 13 publications

References 9 publications

Non-Collision Conditions in Multi-Agent Virtual Leader-Based Formation Control

Non-Collision Conditions in Multi-Agent Virtual Leader-Based Formation Control

Event-based motion coordination of multiple underwater vehicles under disturbances

Multi-agent formation control with collision avoidance based on discontinuous vector fields

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