Attractor dynamics approach to formation control : theory and application
Autor(a) principal: | |
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Data de Publicação: | 2010 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/10919 |
Resumo: | In this paper we show how non-linear attractor dynamics can be used as a framework to control teams of autonomous mobile robots that should navigate according to a predefined geometric formation. The environment does not need to be known a priori and may change over time. Implicit to the control architecture are some important features such as establishing and moving the formation, split and join of formations (when necessary to avoid obstacles). Formations are defined by a formation matrix. By manipulating this formation matrix it is also possible to switch formations at run time. Examples of simulation results and implementations with real robots (teams of Khepera robots and medium size mobile robots), demonstrate formation switch, static and dynamic obstacle avoidance and split and join formations without the need for any explicit coordination scheme. Robustness against environmental perturbations is intrinsically achieved because the behaviour of each robot is generated as a time series of asymptotically stable states, which contribute to the asymptotic stability of the overall control system. |
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Attractor dynamics approach to formation control : theory and applicationFormation controlMulti-robot systemsDynamical systemsAttractor dynamicsObstacle avoidanceScience & TechnologyIn this paper we show how non-linear attractor dynamics can be used as a framework to control teams of autonomous mobile robots that should navigate according to a predefined geometric formation. The environment does not need to be known a priori and may change over time. Implicit to the control architecture are some important features such as establishing and moving the formation, split and join of formations (when necessary to avoid obstacles). Formations are defined by a formation matrix. By manipulating this formation matrix it is also possible to switch formations at run time. Examples of simulation results and implementations with real robots (teams of Khepera robots and medium size mobile robots), demonstrate formation switch, static and dynamic obstacle avoidance and split and join formations without the need for any explicit coordination scheme. Robustness against environmental perturbations is intrinsically achieved because the behaviour of each robot is generated as a time series of asymptotically stable states, which contribute to the asymptotic stability of the overall control system.This work was supported through COOP-DYN (POSI/SRI/38051/2001), financed by the Portuguese Foundation for Science and Technology (FCT) and project fp6-IST2 EU-project JAST-Joint Action Science and Technology (project number 003747). We thank Miguel Vaz and Nzoji Hipolito for their help in the implementations with real robots. We would like also to thank the anonymous reviewers for their insightful comments which helped improving the paper.SpringerUniversidade do MinhoMonteiro, SérgioBicho, E.20102010-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/1822/10919eng" Autonomous Robots ". ISSN 0929-5593. 29 (2010) 331-355.0929-559310.1007/s10514-010-9198-8www.springerlink.com/index/C464205783757232.pdfinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-21T12:40:17Zoai:repositorium.sdum.uminho.pt:1822/10919Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:37:03.111081Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Attractor dynamics approach to formation control : theory and application |
title |
Attractor dynamics approach to formation control : theory and application |
spellingShingle |
Attractor dynamics approach to formation control : theory and application Monteiro, Sérgio Formation control Multi-robot systems Dynamical systems Attractor dynamics Obstacle avoidance Science & Technology |
title_short |
Attractor dynamics approach to formation control : theory and application |
title_full |
Attractor dynamics approach to formation control : theory and application |
title_fullStr |
Attractor dynamics approach to formation control : theory and application |
title_full_unstemmed |
Attractor dynamics approach to formation control : theory and application |
title_sort |
Attractor dynamics approach to formation control : theory and application |
author |
Monteiro, Sérgio |
author_facet |
Monteiro, Sérgio Bicho, E. |
author_role |
author |
author2 |
Bicho, E. |
author2_role |
author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Monteiro, Sérgio Bicho, E. |
dc.subject.por.fl_str_mv |
Formation control Multi-robot systems Dynamical systems Attractor dynamics Obstacle avoidance Science & Technology |
topic |
Formation control Multi-robot systems Dynamical systems Attractor dynamics Obstacle avoidance Science & Technology |
description |
In this paper we show how non-linear attractor dynamics can be used as a framework to control teams of autonomous mobile robots that should navigate according to a predefined geometric formation. The environment does not need to be known a priori and may change over time. Implicit to the control architecture are some important features such as establishing and moving the formation, split and join of formations (when necessary to avoid obstacles). Formations are defined by a formation matrix. By manipulating this formation matrix it is also possible to switch formations at run time. Examples of simulation results and implementations with real robots (teams of Khepera robots and medium size mobile robots), demonstrate formation switch, static and dynamic obstacle avoidance and split and join formations without the need for any explicit coordination scheme. Robustness against environmental perturbations is intrinsically achieved because the behaviour of each robot is generated as a time series of asymptotically stable states, which contribute to the asymptotic stability of the overall control system. |
publishDate |
2010 |
dc.date.none.fl_str_mv |
2010 2010-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/10919 |
url |
http://hdl.handle.net/1822/10919 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
" Autonomous Robots ". ISSN 0929-5593. 29 (2010) 331-355. 0929-5593 10.1007/s10514-010-9198-8 www.springerlink.com/index/C464205783757232.pdf |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Springer |
publisher.none.fl_str_mv |
Springer |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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