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This paper proposes a solution to the problem of path-following by a formation of mobile robots (three robots are considered, forming a triangle on the ground). The proposed solution allows planning the motion of the desired formation without needing specifying how each robot should move. The proposed strategy is based on the cluster space approach, and embeds a reactive method to give the formation...
In this paper, the control problem for a group of mobile robots keeping a geometric formation is considered. The proposed architecture of control allows to each robot to avoid obstacles and to rejoin the desired formation. To not complicate the control of such a system, it is proposed to divide the overall complex task into two basic tasks: attraction to a dynamical target, and obstacle avoidance...
In this paper, coordination and crash avoidance algorithm between a group of mobile robots is proposed based on the fuzzy control. Fuzzy control is developed to make the robots move in the predefined trajectories that must not collide. All the robots are coordinated so that they finish their trajectories in the same time, regardless of the length of the individual trajectories or the number of crash...
In a highly dynamical environment, such as robotic soccer, robots must in real-time make its next position to intercept the fast moving target as quickly as possible, and with obstacle-avoidance. This paper describes a computationally inexpensive, yet look-ahead navigating method for mobile robots. The linear trajectory of the target's motion was achieved by least squares fit, the ellipse was established...
The tasks of entrapping/escorting and patrolling around an autonomous target are presented making use of the multi-robot cluster space control approach. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems of limited size. Previous work has established the conceptual foundation of this approach and has experimentally verified...
We consider the problem of formation flight for a set of unmanned air vehicles (UAV) in a possible obstacle laden environment. A novel decentralized control design procedure is developed which guarantees collision and obstacle avoidance. The control design is based on a modified virtual leader-follower structure and a simple consensus protocol. Vehicle collision and obstacle avoidance is ensured by...
This paper presents a multi-layer scheme to control a formation of n mobile robots, including a strategy for obstacle avoidance. The controller adopted is able to guide the robots to compose the desired formation and to track a desired trajectory, avoiding obstacles during the navigation. Two planning layers are responsible for organizing the navigation of the individual robots towards the desired...
This paper reports an autonomous cooperative navigation system for robot formations in realistic scenarios. The formation movement control is based on a virtual structure composed by spring-dampers elements, which allows the formation to comply with the environment shape. A different navigation strategy is applied to the leader of the formation and to the rest of robots of the team. The leader plans...
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