Flocking and Target Interception Control for Formations of Nonholonomic Kinematic Agents

12/05/2018
by   Milad Khaledyan, et al.
0

In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the rigidity properties of the graph modeling the sensing/communication interactions among the robots. An input transformation is used to facilitate the control design by converting the nonholonomic model into the single integrator-like equation. We assume only a subset of the robots know the desired, time-varying flocking velocity or the target's motion. The resulting control schemes include distributed, variable structure observers to estimate the unknown signals. Our stability analyses prove convergence to the desired formation while tracking the flocking velocity or the target motion. The results are supported by experiments.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
12/06/2021

UAV Formation Preservation for Target Tracking Applications

This paper presents a collaborative target tracking application with mul...
research
08/19/2020

Kinematic Resolutions of Redundant Robot Manipulators using Integration-Enhanced RNNs

Recently, a time-varying quadratic programming (QP) framework that descr...
research
07/03/2022

Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots

This article takes a step to provide humanoid robots with adaptive morph...
research
10/11/2021

Decentralized sliding-mode control laws for the bearing-based formation tracking problem

This paper studies the time-varying bearing-based tracking of leader-fol...
research
04/14/2022

Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models

Visual-inertial odometry (VIO) is an important technology for autonomous...
research
09/07/2016

Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks

This paper considers the distributed sampled-data control problem of a g...
research
09/16/2020

Distributed formation maneuver control by manipulating the complex Laplacian

This paper proposes a novel maneuvering technique for the complex-Laplac...

Please sign up or login with your details

Forgot password? Click here to reset