Perception-Driven Multi-Robot Formation Control

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Ahmad, A (Autor) Outra; Nascimento, T (Autor) Outra; Conceicao, AGS (Autor) Outra; António Paulo Moreira (Autor) FEUP; Lima, P (Autor) Outra

Ata de Conferência Internacional

Título: 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)

Páginas: 1851-1856

IEEE International Conference on Robotics and Automation (ICRA)

Karlsruhe, GERMANY, MAY 06-10, 2013

Indexação

ISI Web of Knowledge - 17 Citações

Scopus - 22 Citações

Outras Informações

ID Authenticus: P-008-GCG

DOI: 10.1109/icra.2013.6630821

Abstract (EN): Maximizing the performance of cooperative perception of a tracked target by a team of mobile robots while maintaining the team's formation is the core problem addressed in this work. We propose a solution by integrating the controller and the estimator modules in a formation control loop. The controller module is a distributed non-linear model predictive controller and the estimator module is based on a particle filter for cooperative target tracking. A formal description of the integration followed by simulation and real robot results on two different teams of homogeneous robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target's cooperative estimate while complying with the performance criteria such as keeping a pre-set distance between the team-mates and/or the target and obstacle avoidance.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6