Pursuit formations of unicycles

Marshall, Joshua A.; Broucke, Mireille E.; Francis, Bruce A.

doi:10.1016/j.automatica.2005.08.001

Cited by 177 publications

(78 citation statements)

References 11 publications

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“…The objective was to grasp the target with a team of robots, to enclose the target at a pre-specified distance from it, to uniformly distribute the robots around the target, and to subsequently escort the target, with maintaining the distances both to the target and between the robots. In contrast with the majority of relevant algorithms available in the literature (see, e.g., [47,48,49,50,28,51,43,52,53,54,32,55,56,57,58,29,44,59,60,61,62] for representative samples; a detailed literature overview is available in [30,62]), angular data about the target are not available to the robots, and the objective should be achieved based on only range measurements. Range-only based navigation is of interest for many applications since it carries a potential both for reduction of the cost and complexity of the hardware and for increase of the system reliability [63,64,39].…”

Section: Computer Simulation Testsmentioning

confidence: 99%

Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

Ovchinnikov

Semakova

Matveev

2015

Robotics and Autonomous Systems

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Section: Computer Simulation Testsmentioning

confidence: 99%

Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

Ovchinnikov

Semakova

Matveev

2015

Robotics and Autonomous Systems

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“…In [7] local adaptive internal model based controllers are presented. Under very mild assumptions local adaptive internal model-based controllers augmented with high gain observers are designed to achieve agreement of the agent outputs The papers [20], [21], [22], [23] considered cooperative control of only a portion of the state vector of each mobile robot and their proposed methods were specialized to a specific class of robotic system. To our knowledge, there is no paper which discusses the cooperative control problem for general nonholonomic agents with limited communication capabilities among neighbors.…”

Section: Introductionmentioning

confidence: 99%

Control of Multiple Underwater Vessels to Converge to a Desired Pattern

Salarieh

Ghassemzadeh

2018

ijmt

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The important and hazardous of the rescue mission in oceans and seas, autonomous vessels now are one of the most appropriate applications among others. Due to safety, reliability, and accessibility of smart, Autonomous and Cooperative vessels today has attracted much attention from the industry. Regard to the complication of the mono vessel for different objects, the multiagent system was proposed by the researchers. A group of vessels which are connected to each other through different communication systems like GPS, INS and etc., could easily act their duties in the different situations. Design a strategy controller for a group of underwater vessels with the aid of Lyapanove and Graph theory is addressed in this brief. Realistic dynamics is considered in this paper which is novel things in the fields of control system design to demonstrate the performances of the designed controller. Using realistic dynamics makes it possible to really analyze the behavior of the system and consider all the problems which the systems might be faced in reality. The main features of the proposed controller are the decentralized and scalable controller which convert the controller to be applicable to the different number of agents also in the different situation without any external monitoring and this is while all the previous work were based on the external Control. Due to the realistic agent dynamics, non-holonomic dynamics and turning constraints of the vessels are considered in the design process. Advantages of the proposed controller could be represented as follow: domestic information is used between vessels. Based on the realistic dynamics of motion, damping and inertia matrix which in previous works used to be diagonal and constant, are considered as non-diagonal and variable. Also to represent the effectiveness of the proposed controllers, MATLAB and SIMULINK are used to simulate the effectiveness of the controller. As the simulation results show, designed controllers perform well on the system and the objective duty is achieved appropriately.

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“…Olfati-Saber et al [3] and Leonard et al [4] used potential function theory to prescribe flocking behavior. Lin et al [5] exploited cyclic pursuit (where each agent i pursues the next i + 1, modulo n) to achieve alignment among agents, while Marshall et al in [6] and in [7] extended the classic cyclic pursuit to a system of wheeled vehicles, each subject to a single nonholonomic constraint, and studied the possible equilibrium formations and their stability. Paley et al [8] introduced control strategies which extend previous research to formations of particles around convex curves.…”

Section: Introductionmentioning

confidence: 99%

Distributed control of spacecraft formation via cyclic pursuit: Theory and experiments

Ramírez

Pavone

Miller

2009

2009 American Control Conference

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Abstract-In this paper we study distributed control policies for spacecraft formations that draw inspiration from the simple idea of cyclic pursuit. First, we extend existing cyclicpursuit control laws devised for single-integrator models in two dimensions to the case of double-integrator models in three dimensions. In particular, we develop control laws that only require relative measurements of position and velocity with respect to the two leading neighbors in the ring topology of cyclic pursuit, and allow the spacecraft to converge to a variety of symmetric formations, including evenly spaced circular formations and evenly spaced Archimedes' spirals. Second, we discuss potential applications, including spacecraft coordination for interferometric imaging and convergence to zero-effort orbits. Finally, we present and discuss experimental results obtained by implementing the aforementioned control laws on three nanospacecraft on board the International Space Station.

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Pursuit formations of unicycles

Cited by 177 publications

References 11 publications

Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

Control of Multiple Underwater Vessels to Converge to a Desired Pattern

Distributed control of spacecraft formation via cyclic pursuit: Theory and experiments

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