Continuous-time distributed control algorithm for multi-robot systems dynamic average consensus

2020 ◽  
Author(s):  
Long Jian ◽  
Jianyan Tian ◽  
Lihong Li ◽  
Jifu Li ◽  
Shengqiang Yang
Keyword(s):  
Distributed Control ◽  
Continuous Time ◽  
Control Algorithm ◽  
Average Consensus ◽  
Robot Systems ◽  
Distributed Control Algorithm ◽  
Multi Robot

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Jinwei Yu ◽  
Jinchen Ji ◽  
Zhonghua Miao ◽  
Jin Zhou
Keyword(s):  
Collision Avoidance ◽  
Distributed Control ◽  
Control Algorithm ◽  
Control Method ◽  
Negative Effects ◽  
Control Gain ◽  
Robot Systems ◽  
Distributed Control Algorithm ◽  
Velocity Matching ◽  
Multi Robot

SUMMARY This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

scholarly journals A distributed control algorithm for internal flow management in a multi-zone climate unit

2008 ◽  
Vol 81 (1) ◽  
pp. 89-106 ◽  
Author(s):  
C. De Persis ◽  
J. J. Jessen ◽  
R. Izadi-Zamanabadi ◽  
H. Schiøler
Keyword(s):  
Distributed Control ◽  
Control Algorithm ◽  
Internal Flow ◽  
Flow Management ◽  
Distributed Control Algorithm

scholarly journals Automated Verification of Social Laws for Continuous Time Multi-Robot Systems

2019 ◽  
Vol 33 ◽  
pp. 7683-7690 ◽  
Author(s):  
Ronen Nir ◽  
Erez Karpas
Keyword(s):  
Continuous Time ◽  
Automated Verification ◽  
Shared Environment ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Temporal Planning ◽  
Social Law ◽  
Robot Systems ◽  
Multi Agent ◽  
Multi Robot

Designing multi-agent systems, where several agents work in a shared environment, requires coordinating between the agents so they do not interfere with each other. One of the canonical approaches to coordinating agents is enacting a social law, which applies restrictions on agents’ available actions. A good social law prevents the agents from interfering with each other, while still allowing all of them to achieve their goals. Recent work took the first step towards reasoning about social laws using automated planning and showed how to verify if a given social law is robust, that is, allows all agents to achieve their goals regardless of what the other agents do. This work relied on a classical planning formalism, which assumed actions are instantaneous and some external scheduler chooses which agent acts next. However, this work is not directly applicable to multi-robot systems, because in the real world actions take time and the agents can act concurrently. In this paper, we show how the robustness of a social law in a continuous time setting can be verified through compilation to temporal planning. We demonstrate our work both theoretically and on real robots.

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