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This paper deals with the problem of odor source localization using multiple mobile robots. A distributed coordination control scheme is proposed by introducing a trajectory level into the original distributed architecture. In the trajectory level, a spiral model is designed and used to deal with a new robot position produced by cooperative search algorithms in order to generate a spiral trajectory...
A cooperation approach with consideration of communication limit is proposed for multi-robot area exploration, in which all the robots select local destinations satisfying the constraints on communication range and reach their destinations at the same time to communicate and fuse their map information. Firstly, the robots compute the frontier between the explored region and the unexplored one. The...
In this paper, we consider a multi-robot cooperative control problem via a robust consensus tracking algorithm. The main objective of this paper is to develop and implement a multi-robot formation control testbed and use it to verify the effectiveness of a cooperative control algorithm developed in our recent work. In the robust consensus tracking algorithm, an observer is developed to identify the...
In this article, an internal and an external synchronization have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronize the movement of robot group following the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In the mutual synchronization topology, robots network...
This paper is concerned with cooperative control for trajectory tracking of multiple biomimetic robotic fish using neural network based sliding mode control method. An experiment system is set up for multiple robotic fish cooperation, in which the information of robotic fish and the target points of the planned trajectory are sent to each robotic fish. Based on the received information, robotic fish...
For N unicycles moving in formation, a cooperative control strategy for target capturing including the steering angle regulation problem is proposed in this paper. The stabilizing method is based on LaSallepsilas invariance principle and ensures, in the 2D space, the target capturing. The method does not require motion planning. Hence, the convergence to the desired attractive set surrounding the...
The multi-Robot box-pushing problem in cluttered environments has demonstrated to be a very complex problem with multiple practical applications. In this document we present a new strategy to solve it, inspired in the wavefront algorithm which it also includes some pertinent modifications to obtain trajectories that facilitate the box displacement for non-holonomic mobile robots. The proposed method...
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