A local multi-robot cooperative formation control

Li Yang, Yanqiu Che, Jiawei Guo, Xiwen Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

An advanced algorithm for local sensing multi-robot cooperative formation control in uncertain environments is presented in this paper. In this proposed algorithm, the global-level multi-robot cooperative formation control problem is decomposed into a tracking problem of some subsystems each of which only includes one follower and one lead robot. A multi-step predictive strategy is adopted, in which each follower predicts the motion of the leading robot and estimates the relevant information based on the history motion information. The follower keeps formation by observing its leader on the local coordinate system of the following robot. The simulation results are given to demonstrate the feasibility and effectiveness of the approach.

Original languageEnglish (US)
Title of host publicationProceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages344-347
Number of pages4
ISBN (Electronic)9781538672556
DOIs
StatePublished - Jul 6 2018
Event33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018 - Nanjing, China
Duration: May 18 2018May 20 2018

Publication series

NameProceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018

Other

Other33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
CountryChina
CityNanjing
Period5/18/185/20/18

Fingerprint

Cooperative Control
Formation Control
Multi-robot
Robot
Robots
Motion
Control Problem
Subsystem
Sensing
Predict
Estimate
Lead
Demonstrate
Simulation

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Control and Systems Engineering

Cite this

Yang, L., Che, Y., Guo, J., & Huang, X. (2018). A local multi-robot cooperative formation control. In Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018 (pp. 344-347). (Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/YAC.2018.8406397
Yang, Li ; Che, Yanqiu ; Guo, Jiawei ; Huang, Xiwen. / A local multi-robot cooperative formation control. Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 344-347 (Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018).
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title = "A local multi-robot cooperative formation control",
abstract = "An advanced algorithm for local sensing multi-robot cooperative formation control in uncertain environments is presented in this paper. In this proposed algorithm, the global-level multi-robot cooperative formation control problem is decomposed into a tracking problem of some subsystems each of which only includes one follower and one lead robot. A multi-step predictive strategy is adopted, in which each follower predicts the motion of the leading robot and estimates the relevant information based on the history motion information. The follower keeps formation by observing its leader on the local coordinate system of the following robot. The simulation results are given to demonstrate the feasibility and effectiveness of the approach.",
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Yang, L, Che, Y, Guo, J & Huang, X 2018, A local multi-robot cooperative formation control. in Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018. Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 344-347, 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018, Nanjing, China, 5/18/18. https://doi.org/10.1109/YAC.2018.8406397

A local multi-robot cooperative formation control. / Yang, Li; Che, Yanqiu; Guo, Jiawei; Huang, Xiwen.

Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 344-347 (Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - An advanced algorithm for local sensing multi-robot cooperative formation control in uncertain environments is presented in this paper. In this proposed algorithm, the global-level multi-robot cooperative formation control problem is decomposed into a tracking problem of some subsystems each of which only includes one follower and one lead robot. A multi-step predictive strategy is adopted, in which each follower predicts the motion of the leading robot and estimates the relevant information based on the history motion information. The follower keeps formation by observing its leader on the local coordinate system of the following robot. The simulation results are given to demonstrate the feasibility and effectiveness of the approach.

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Yang L, Che Y, Guo J, Huang X. A local multi-robot cooperative formation control. In Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 344-347. (Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018). https://doi.org/10.1109/YAC.2018.8406397