Perception-driven multi-robot formation control
2013
Conference Paper
ps
Maximizing the performance of cooperative perception of a tracked target by a team of mobile robots while maintaining the team's formation is the core problem addressed in this work. We propose a solution by integrating the controller and the estimator modules in a formation control loop. The controller module is a distributed non-linear model predictive controller and the estimator module is based on a particle filter for cooperative target tracking. A formal description of the integration followed by simulation and real robot results on two different teams of homogeneous robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target's cooperative estimate while complying with the performance criteria such as keeping a pre-set distance between the team-mates and/or the target and obstacle avoidance.
Author(s): | Ahmad, A and Nascimento, T and Conceicao, AGS and Moreira, AP and Lima, P |
Pages: | 1851-1856 |
Year: | 2013 |
Month: | May |
Publisher: | IEEE |
Department(s): | Perceiving Systems |
Bibtex Type: | Conference Paper (inproceedings) |
DOI: | 10.1109/ICRA.2013.6630821 |
Event Name: | IEEE International Conference on Robotics and Automation (ICRA 2013) |
Event Place: | Karlsruhe, Germany |
BibTex @inproceedings{AhmadNCML2013, title = {Perception-driven multi-robot formation control}, author = {Ahmad, A and Nascimento, T and Conceicao, AGS and Moreira, AP and Lima, P}, pages = {1851-1856}, publisher = {IEEE}, month = may, year = {2013}, doi = {10.1109/ICRA.2013.6630821}, month_numeric = {5} } |