Unmanned ground vehicle swarm formation control using potential fields

Barnes, Laura E.; Fields, MaryAnne; Valavanis, Kimon P.

doi:10.1109/med.2007.4433724

Cited by 102 publications

(45 citation statements)

References 30 publications

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“…For this purpose, it is possible to invoke LaSalle's principle, 28 to show that the only configurations where _ Eð; _ Þ ¼ 0 correspond to the desired configuration, defined as in equation (11).…”

Section: Collision Avoidance and Convergencementioning

confidence: 99%

“…However, their main drawback is in the well-known local minima problem 11 : Interacting with the primary task of the mobile robots (e.g. convergence to a common position, creating a formation), collision avoidance artificial potential fields can create undesired asymptotically stable configurations that prevent the robots from reaching the desired configuration.…”

Section: Introductionmentioning

confidence: 99%

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Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces

Secchi

Fantuzzi

2017

International Journal of Advanced Robotic Systems

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This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defining the collision avoidance control strategy: This kind of forces leads to avoiding collisions, without interfering with the convergence properties of the multi-robot system's desired control law. Collision avoidance introduces, in fact, a perturbation on the nominal behavior of the system: We define a method for choosing the direction of the gyroscopic force in an optimal manner, in such a way that perturbation is minimized. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose.

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Section: Collision Avoidance and Convergencementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces

Secchi

Fantuzzi

2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…The analysis falls on the control of variable structure systems (Itkis (1976)). In most works, the repulsive discontinuous forces are designed heuristically and no formal proofs are presented (for instance, Barnes et al (2007); Kim et al (2005)). Finally, other strategies of non-collision are listed in Chen & Wang (2005) like the predictive model control, social potential fields, fuzzy logic and neural networks.…”

Section: State Of the Artmentioning

confidence: 99%

Convergence and Collision Avoidance in Formation Control: A Survey of the Artificial Potential Functions Approach

Hernández‐Martínez¹,

Aranda-Bricaire²

2011

Multi-Agent Systems - Modeling, Control, Programming, Simulations and Applications

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“…Other attempts to achieve global convergence without collisions in formation control include: hybrid architectures where a high-level supervisor switches momentarily to reactive non-collision strategy [30], the use of small disturbances in order to escape from undesired equilibria which exhibit a saddle point behaviour [31] and the use of discontinuous repulsive vector fields [32]. Despite successful implementations, the repulsive forces are heuristically designed and therefore, formal proof about global convergence are rarely found (for example [33]). …”

Section: Introductionmentioning

confidence: 99%

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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Unmanned ground vehicle swarm formation control using potential fields

Cited by 102 publications

References 30 publications

Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces

Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces

Convergence and Collision Avoidance in Formation Control: A Survey of the Artificial Potential Functions Approach

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

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