Perception-Driven Multi-Robot Formation Control

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

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

Conference proceedings International

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

Pages: 1851-1856

IEEE International Conference on Robotics and Automation (ICRA)

Karlsruhe, GERMANY, MAY 06-10, 2013

Indexing

ISI Web of Knowledge - 17 Citations

Scopus - 22 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6