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Distributed control of multiple non-holonomic robots with sector vision and range-only measurements for target capturing with collision avoidance

Published online by Cambridge University Press:  03 March 2014

A. Zakhar'eva ,
A. S. Matveev ,
M. C. Hoy  and
A. V. Savkin
A. Zakhar'eva
Affiliation:
Department of Mathematics and Mechanics, St Petersburg University, St Petersburg, Russia
A. S. Matveev
Affiliation:
Department of Mathematics and Mechanics, St Petersburg University, St Petersburg, Russia
M. C. Hoy*
Affiliation:
School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, New South Wales, Australia
A. V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, New South Wales, Australia
*
*Corresponding author. E-mail: mch.hoy@gmail.com
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Summary

We consider a team of autonomous kinematically controlled non-holonomic planar Dubins car-like vehicles. The team objective is to encircle a given target so that all vehicles achieve a common and pre-specified distance from it and are uniformly distributed over the respective circle, and the entire formation rotates around the target with a prescribed angular velocity. The robots do not communicate with each other and any central decision-maker. The sensing capacity of any vehicle is heavily restricted: It has access only to the distance to the target and to the distances to the companion vehicles that are in a given disc sector centered at the vehicle at hand; no robot can distinguish between its companions, and does not know their parameters. A distributed control law is proposed, and mathematically rigorous proofs of its non-local convergence as well as collision avoidance property are presented. The performance of the control law is illustrated by computer simulations and experiments with real robots.

Keywords

Control of robotic systemsMobile robotsMulti-robot systemsNavigationSwarm robotics
Type
Articles
Information
Robotica , Volume 33 , Issue 2 , February 2015 , pp. 385 - 412
Copyright
Copyright © Cambridge University Press 2014 

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