A Survey of Formation Control for Multiple Mobile Robotic Systems

Abstract In this work, we analyze the decentralized formation control problem for a class of multi-robotic systems evolving on slippery surfaces. Grounded on experimental data of robots moving on a gravel surface inducing slippery, we show that a deterministic model cannot capture the uncertainties resulting from the kinematics of the robots while, instead, a model incorporating stochastic noise is capable of emulating such perturbations on wheel driving speed and turn rate. To account for these uncertainties, we consider a second order non-holonomic unicycle model to capture the full dynamics of individual vehicles where both actuation force and torque are subject to stochastic disturbances. Upon reducing the input-output dynamics of individual robot to a stochastic double integrator, we investigate the effects of these perturbations on the control input using concepts from stochastic stability theory and through numerical simulations. We demonstrated the applicability of the proposed scheme for formation control notably by providing sufficient conditions for exponential mean square convergence and we numerically determined the range of noise intensities for which team of robots can achieve formation stabilization. The promising findings from this work are expected to aid the design of robust control schemes for formation control of non-holonomic robots on off-road or un-paved surfaces.

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Formation control and coordination of swarm robotic systems

10.1145/3492547.3492704 ◽

2021 ◽

Author(s):

Abzal Ermekbayuly Kyzyrkanov ◽

Sabyrzhan Kubeisinovich Atanov ◽

Shadi Abdel Rahman Aljawarneh

Keyword(s):

Formation Control ◽

Robotic Systems

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Formation Control of Robotic Systems

Formation Control of Multiple Autonomous Vehicle Systems ◽

10.1002/9781119263081.ch8 ◽

2018 ◽

pp. 157-187

Keyword(s):

Formation Control ◽

Robotic Systems

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Adaptive Formation Control of Networked Robotic Systems With Bearing-Only Measurements

IEEE Transactions on Cybernetics ◽

10.1109/tcyb.2020.2978981 ◽

2021 ◽

Vol 51 (1) ◽

pp. 199-209 ◽

Cited By ~ 3

Author(s):

Xiaolei Li ◽

Changyun Wen ◽

Ci Chen

Keyword(s):

Formation Control ◽

Robotic Systems

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The NSB control: a behavior-based approach for multi-robot systems

Paladyn Journal of Behavioral Robotics ◽

10.2478/s13230-010-0006-0 ◽

2010 ◽

Vol 1 (1) ◽

Cited By ~ 28

Author(s):

Gianluca Antonelli ◽

Filippo Arrichiello ◽

Stefano Chiaverini

Keyword(s):

Formation Control ◽

Ad Hoc ◽

Null Space ◽

Robotic Systems ◽

Lower Priority ◽

Robot Systems ◽

Mobile Ad Hoc ◽

Behavior Based ◽

Hoc Networks ◽

Multi Robot

AbstractThe paper presents an overview on the use of a behavior-based approach, namely the Null-Space-based Behavioral (NSB) approach, to control multi-robot systems in a wide application domain. The NSB approach has been recently developed to control the motion of generic robotic systems; it uses a projection mechanism to combine the multiple, prioritized, behaviors that compose the robotic mission so that the lower priority behaviors do not effect the higher priority ones. In this paper we describe how the NSB approach has been used to control different multi-robot systems (e.g., composed of wheeled and marine robots) to achieve missions such as formation control, entrapping/escorting of targets, control of mobile ad-hoc networks, flocking, border patrol and cooperative caging.

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SDP-Based Robust Formation-Containment Coordination of Swarm Robotic Systems with Input Saturation

Journal of Intelligent & Robotic Systems ◽

10.1007/s10846-021-01368-4 ◽

2021 ◽

Vol 102 (1) ◽

Author(s):

Kefan Wu ◽

Junyan Hu ◽

Barry Lennox ◽

Farshad Arvin

Keyword(s):

Formation Control ◽

Controller Design ◽

Input Saturation ◽

Reference Signal ◽

Robotic Systems ◽

Time Data ◽

Containment Control ◽

Potential Applications ◽

Hardware Platforms ◽

Double Integrator

AbstractThere are many potential applications of swarm robotic systems in real-world scenarios. In this paper, formation-containment controller design for single-integrator and double-integrator swarm robotic systems with input saturation is investigated. The swarm system contains two types of robots—leaders and followers. A novel control protocol and an implementation algorithm are proposed that enable the leaders to achieve the desired formation via semidefinite programming (SDP) techniques. The followers then converge into the convex hull formed by the leaders simultaneously. In contrast to conventional consensus-based formation control methods, the relative formation reference signal is not required in the real-time data transmission, which provides greater feasibility for implementation on hardware platforms. The effectiveness of the proposed formation-containment control algorithm is demonstrated with both numerical simulations and experiments using real robots that utilize the miniature mobile robot, Mona.

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