Multi-robot nonlinear model predictive formation control: moving target and target absence

Detalhes bibliográficos
Autor(a) principal: Nascimento, Tiago Pereira do
Data de Publicação: 2013
Outros Autores: Moreira, António Paulo, Conceição, André G. Scolari
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Institucional da UFBA
Texto Completo: http://repositorio.ufba.br/ri/handle/ri/15233
Resumo: Texto completo: acesso restrito. p. 1502–1515
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spelling Nascimento, Tiago Pereira doMoreira, António PauloConceição, André G. ScolariNascimento, Tiago Pereira doMoreira, António PauloConceição, André G. Scolari2014-07-18T14:31:48Z20130921-8890http://repositorio.ufba.br/ri/handle/ri/15233v. 61Texto completo: acesso restrito. p. 1502–1515This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The team must also maintain a desired formation following a target while it is moving, or follow a leader in the case of target’s absence. The structure details of the controller, as well as a mathematical analysis of the formation model used, are presented. Furthermore, results of simulations and experiments with real robots are presented and discussed.Submitted by Suelen Reis (suziy.ellen@gmail.com) on 2014-03-31T12:44:34Z No. of bitstreams: 1 1-s2.0-S0921889013001310-main.pdf: 1946069 bytes, checksum: 2a1fbc0ea3f03031f095894ca37ac1fd (MD5)Approved for entry into archive by LIVIA FREITAS (livia.freitas@ufba.br) on 2014-07-18T14:31:48Z (GMT) No. of bitstreams: 1 1-s2.0-S0921889013001310-main.pdf: 1946069 bytes, checksum: 2a1fbc0ea3f03031f095894ca37ac1fd (MD5)Made available in DSpace on 2014-07-18T14:31:48Z (GMT). No. of bitstreams: 1 1-s2.0-S0921889013001310-main.pdf: 1946069 bytes, checksum: 2a1fbc0ea3f03031f095894ca37ac1fd (MD5) Previous issue date: 2013http://dx.doi.org/10.1016/j.robot.2013.07.005reponame:Repositório Institucional da UFBAinstname:Universidade Federal da Bahia (UFBA)instacron:UFBAMulti-robot systemRobot controlMobile roboticsMulti-robot nonlinear model predictive formation control: moving target and target absenceRobotics and Autonomous Systemsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article10000-01-01info:eu-repo/semantics/openAccessengLICENSElicense.txtlicense.txttext/plain1345https://repositorio.ufba.br/bitstream/ri/15233/2/license.txt0d4b811ef71182510d2015daa7c8a900MD52ORIGINAL1-s2.0-S0921889013001310-main.pdf1-s2.0-S0921889013001310-main.pdfapplication/pdf1946069https://repositorio.ufba.br/bitstream/ri/15233/1/1-s2.0-S0921889013001310-main.pdf2a1fbc0ea3f03031f095894ca37ac1fdMD51TEXT1-s2.0-S0921889013001310-main.pdf.txt1-s2.0-S0921889013001310-main.pdf.txtExtracted texttext/plain56922https://repositorio.ufba.br/bitstream/ri/15233/3/1-s2.0-S0921889013001310-main.pdf.txt73bd5e1b4bff2e1cf5c829244a782071MD53ri/152332022-07-05 14:03:31.832oai:repositorio.ufba.br:ri/15233VGVybW8gZGUgTGljZW4/YSwgbj9vIGV4Y2x1c2l2bywgcGFyYSBvIGRlcD9zaXRvIG5vIFJlcG9zaXQ/cmlvIEluc3RpdHVjaW9uYWwgZGEgVUZCQS4KCiBQZWxvIHByb2Nlc3NvIGRlIHN1Ym1pc3M/byBkZSBkb2N1bWVudG9zLCBvIGF1dG9yIG91IHNldSByZXByZXNlbnRhbnRlIGxlZ2FsLCBhbyBhY2VpdGFyIAplc3NlIHRlcm1vIGRlIGxpY2VuP2EsIGNvbmNlZGUgYW8gUmVwb3NpdD9yaW8gSW5zdGl0dWNpb25hbCBkYSBVbml2ZXJzaWRhZGUgRmVkZXJhbCBkYSBCYWhpYSAKbyBkaXJlaXRvIGRlIG1hbnRlciB1bWEgYz9waWEgZW0gc2V1IHJlcG9zaXQ/cmlvIGNvbSBhIGZpbmFsaWRhZGUsIHByaW1laXJhLCBkZSBwcmVzZXJ2YT8/by4gCkVzc2VzIHRlcm1vcywgbj9vIGV4Y2x1c2l2b3MsIG1hbnQ/bSBvcyBkaXJlaXRvcyBkZSBhdXRvci9jb3B5cmlnaHQsIG1hcyBlbnRlbmRlIG8gZG9jdW1lbnRvIApjb21vIHBhcnRlIGRvIGFjZXJ2byBpbnRlbGVjdHVhbCBkZXNzYSBVbml2ZXJzaWRhZGUuCgogUGFyYSBvcyBkb2N1bWVudG9zIHB1YmxpY2Fkb3MgY29tIHJlcGFzc2UgZGUgZGlyZWl0b3MgZGUgZGlzdHJpYnVpPz9vLCBlc3NlIHRlcm1vIGRlIGxpY2VuP2EgCmVudGVuZGUgcXVlOgoKIE1hbnRlbmRvIG9zIGRpcmVpdG9zIGF1dG9yYWlzLCByZXBhc3NhZG9zIGEgdGVyY2Vpcm9zLCBlbSBjYXNvIGRlIHB1YmxpY2E/P2VzLCBvIHJlcG9zaXQ/cmlvCnBvZGUgcmVzdHJpbmdpciBvIGFjZXNzbyBhbyB0ZXh0byBpbnRlZ3JhbCwgbWFzIGxpYmVyYSBhcyBpbmZvcm1hPz9lcyBzb2JyZSBvIGRvY3VtZW50bwooTWV0YWRhZG9zIGVzY3JpdGl2b3MpLgoKIERlc3RhIGZvcm1hLCBhdGVuZGVuZG8gYW9zIGFuc2Vpb3MgZGVzc2EgdW5pdmVyc2lkYWRlIGVtIG1hbnRlciBzdWEgcHJvZHU/P28gY2llbnQ/ZmljYSBjb20gCmFzIHJlc3RyaT8/ZXMgaW1wb3N0YXMgcGVsb3MgZWRpdG9yZXMgZGUgcGVyaT9kaWNvcy4KCiBQYXJhIGFzIHB1YmxpY2E/P2VzIHNlbSBpbmljaWF0aXZhcyBxdWUgc2VndWVtIGEgcG9sP3RpY2EgZGUgQWNlc3NvIEFiZXJ0bywgb3MgZGVwP3NpdG9zIApjb21wdWxzP3Jpb3MgbmVzc2UgcmVwb3NpdD9yaW8gbWFudD9tIG9zIGRpcmVpdG9zIGF1dG9yYWlzLCBtYXMgbWFudD9tIGFjZXNzbyBpcnJlc3RyaXRvIAphbyBtZXRhZGFkb3MgZSB0ZXh0byBjb21wbGV0by4gQXNzaW0sIGEgYWNlaXRhPz9vIGRlc3NlIHRlcm1vIG4/byBuZWNlc3NpdGEgZGUgY29uc2VudGltZW50bwogcG9yIHBhcnRlIGRlIGF1dG9yZXMvZGV0ZW50b3JlcyBkb3MgZGlyZWl0b3MsIHBvciBlc3RhcmVtIGVtIGluaWNpYXRpdmFzIGRlIGFjZXNzbyBhYmVydG8uCg==Repositório InstitucionalPUBhttp://192.188.11.11:8080/oai/requestopendoar:19322022-07-05T17:03:31Repositório Institucional da UFBA - Universidade Federal da Bahia (UFBA)false
dc.title.pt_BR.fl_str_mv Multi-robot nonlinear model predictive formation control: moving target and target absence
dc.title.alternative.pt_BR.fl_str_mv Robotics and Autonomous Systems
title Multi-robot nonlinear model predictive formation control: moving target and target absence
spellingShingle Multi-robot nonlinear model predictive formation control: moving target and target absence
Nascimento, Tiago Pereira do
Multi-robot system
Robot control
Mobile robotics
title_short Multi-robot nonlinear model predictive formation control: moving target and target absence
title_full Multi-robot nonlinear model predictive formation control: moving target and target absence
title_fullStr Multi-robot nonlinear model predictive formation control: moving target and target absence
title_full_unstemmed Multi-robot nonlinear model predictive formation control: moving target and target absence
title_sort Multi-robot nonlinear model predictive formation control: moving target and target absence
author Nascimento, Tiago Pereira do
author_facet Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
author_role author
author2 Moreira, António Paulo
Conceição, André G. Scolari
author2_role author
author
dc.contributor.author.fl_str_mv Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
dc.subject.por.fl_str_mv Multi-robot system
Robot control
Mobile robotics
topic Multi-robot system
Robot control
Mobile robotics
description Texto completo: acesso restrito. p. 1502–1515
publishDate 2013
dc.date.issued.fl_str_mv 2013
dc.date.accessioned.fl_str_mv 2014-07-18T14:31:48Z
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://repositorio.ufba.br/ri/handle/ri/15233
dc.identifier.issn.none.fl_str_mv 0921-8890
dc.identifier.number.pt_BR.fl_str_mv v. 61
identifier_str_mv 0921-8890
v. 61
url http://repositorio.ufba.br/ri/handle/ri/15233
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.source.pt_BR.fl_str_mv http://dx.doi.org/10.1016/j.robot.2013.07.005
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFBA
instname:Universidade Federal da Bahia (UFBA)
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instname_str Universidade Federal da Bahia (UFBA)
instacron_str UFBA
institution UFBA
reponame_str Repositório Institucional da UFBA
collection Repositório Institucional da UFBA
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