Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation

by   Hector Garcia de Marina, et al.

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and rotated at the same time. This approach makes the robots to behave as a cohesive whole, which can be useful in tasks such as collaborative transportation. The robustness of the algorithm relies on the fact that each robot employs only local measurements from a laser sensor which does not need to be off-line calibrated. Furthermore, robots do not need to exchange any information with each other. Being free of sensor calibration and not requiring a communication channel helps the scaling of the overall system to a large number of robots. In addition, since the robots do not need any off-board localization system, but require only relative positions with respect to their neighbors, it can be aimed to have a full autonomous team that operates in environments where such localization systems are not available. The computational cost of the algorithm is inexpensive and the resources from a standard microcontroller will suffice. This fact makes the usage of our approach appealing as a support for other more demanding algorithms, e.g., processing images from onboard cameras. We validate the performance of the algorithm with a team of four mobile robots equipped with low-cost commercially available laser scanners.


page 2

page 3

page 5

page 6


Angle-Constrained Formation Control for Circular Mobile Robots

In this letter, we investigate the formation control problem of mobile r...

Distributed Localization without Direct Communication Inspired by Statistical Mechanics

Distributed localization is essential in many robotic collective tasks s...

Flexible collaborative transportation by a team of rotorcraft

We propose a combined method for the collaborative transportation of a s...

Distributed Map Classification using Local Observations

We consider the problem of classifying a map using a team of communicati...

Measurement Scheduling for Cooperative Localization in Resource-constrained Conditions

This paper studies the measurement scheduling problem for a group of N m...

Securing Isosceles Triangular Formations under Heterogeneous Sensing and Mixed Constraints

This paper focuses on securing a triangular shape (up to translation) fo...

Intrinsic Calibration of Depth Cameras for Mobile Robots using a Radial Laser Scanner

Depth cameras, typically in RGB-D configurations, are common devices in ...

Please sign up or login with your details

Forgot password? Click here to reset