Distance-Based Formation Control With Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems

2021 ◽  
Vol 6 (2) ◽  
pp. 2020-2027
Author(s):  
Yun Ho Choi ◽  
Doik Kim
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Formation Control ◽  
Robot Systems ◽  
Multi Robot

scholarly journals Research Progress on Synergistic Technologies of Agricultural Multi-Robots

2021 ◽  
Vol 11 (4) ◽  
pp. 1448
Author(s):  
Wenju Mao ◽  
Zhijie Liu ◽  
Heng Liu ◽  
Fuzeng Yang ◽  
Meirong Wang
Keyword(s):  
Path Planning ◽  
Formation Control ◽  
Research Progress ◽  
Hybrid Architecture ◽  
Labor Costs ◽  
Robot System ◽  
System Architectures ◽  
Research Results ◽  
Robot Systems ◽  
Multi Robot

Multi-robots have shown good application prospects in agricultural production. Studying the synergistic technologies of agricultural multi-robots can not only improve the efficiency of the overall robot system and meet the needs of precision farming but also solve the problems of decreasing effective labor supply and increasing labor costs in agriculture. Therefore, starting from the point of view of an agricultural multiple robot system architectures, this paper reviews the representative research results of five synergistic technologies of agricultural multi-robots in recent years, namely, environment perception, task allocation, path planning, formation control, and communication, and summarizes the technological progress and development characteristics of these five technologies. Finally, because of these development characteristics, it is shown that the trends and research focus for agricultural multi-robots are to optimize the existing technologies and apply them to a variety of agricultural multi-robots, such as building a hybrid architecture of multi-robot systems, SLAM (simultaneous localization and mapping), cooperation learning of robots, hybrid path planning and formation reconstruction. While synergistic technologies of agricultural multi-robots are extremely challenging in production, in combination with previous research results for real agricultural multi-robots and social development demand, we conclude that it is realistic to expect automated multi-robot systems in the future.

scholarly journals Distributed Self-triggered Circular Formation Control for Multi-robot Systems

2020 ◽  
Author(s):  
Peng Xu ◽  
Xinyu wang ◽  
Jin Tao ◽  
Guangming Xie ◽  
Minyi Xu ◽  
...  
Keyword(s):  
Formation Control ◽  
Robot Systems ◽  
Multi Robot

Dynamic model based formation control and obstacle avoidance of multi-robot systems

Robotica ◽  
2008 ◽  
Vol 26 (3) ◽  
pp. 345-356 ◽  
Author(s):  
Celso De La Cruz ◽  
Ricardo Carelli
Keyword(s):  
Dynamic Model ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Inverse Dynamics ◽  
Single Equation ◽  
Model Parameters ◽  
Robot System ◽  
System A ◽  
Robot Systems ◽  
Multi Robot

SUMMARYThis work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a formation control. The controller can be applied both to positioning and to tracking desired robot formations. The formation control can be centralized or decentralized and scalable to any number of robots. A strategy for rigid formation obstacle avoidance is also proposed. Experimental results validate the control system design.

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