Current Trends in Nonlinear Systems and Control

Part of the series Systems and Control: Foundations & Applications pp 347-363

Coordination of Robot Teams: A Decentralized Approach

  • Rafael FierroAffiliated withSchool of Electrical and Computer Engineering, Oklahoma State University
  • , Peng SongAffiliated withDepartment of Mechanical and Aerospace Engineering, Rutgers, The State University of New Jersey

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In this chapter, we present two main contributions: (1) a leader-follower formation controller based on dynamic feedback linearization, and (2) a framework for coordinating teams of mobile robots (i.e., swarms). We derive coordination algorithms that allow robot swarms having independent goals but sharing a common environment to reach their target destinations. Derived from simple potential fields and the hierarchical composition of potential fields, our framework leads to a decentralized approach to coordinate complex group interactions. Because the framework is decentralized, it can potentially scale to teams of tens and hundreds of robots. Simulation results verify the scalability and feasibility of the proposed coordination scheme.