Abstract
In this work we consider a fleet of non-holonomic robots that has to realize a formation in a decentralized and collaborative manner. The fleet is clustered due to communication or energy-saving constraints. We assume that each robot continuously measures its relative distance to other robots belonging to the same cluster. Due to this, the robots communicate on a directed connected graph within each cluster. On top of this, in each cluster there exists one robot called leader that receives information from other leaders at discrete instants. In order to realize the formation we propose a two-step strategy. First, the robots compute reference trajectories using a linear consensus protocol. Second, a classical tracking control strategy is used to follow the references. Overall, formation realization is obtained. Numerical simulations with robot teams illustrate the effectiveness of this approach.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Anta A, Tabuada P (2010) To sample or not to sample: self-triggered control for nonlinear systems. IEEE Trans Autom Control 55(9):2030–2042
Beard R, Stepanyan V (2003) Information consensus in distributed multiple vehicle coordinated control. In: IEEE conference on decision and control, vol 2, pp 2029–2034
Bertuccelli LF, Choi HL, Cho P, How JP (2009) Real-time multi-UAV task assignment in dynamic and uncertain environments. In: AIAA guidance, navigation, and control conference
Bragagnolo MC, Morărescu IC, Daafouz J, Riedinger P (2014) LMI sufficient conditions for the consensus of linear agents with nearly-periodic resets. In: American control conference, pp 2575–2580
Brinon Arranz L, Seuret A, Canudas de Wit C (2014) Cooperative control design for time-varying formations of multi-agent systems. IEEE Trans Autom Control 59(8):2283–2288
Brogliato B, Lozano R, Maschke B, Egeland O (2007) Dissipative systems analysis and control. Theory and applications, 2nd edn. CCES. Springer, London
Buşoniu L, Morărescu IC (2014) Consensus for black-box nonlinear agents using optimistic optimization. Automatica 50(4):1201–1208
Bullo F, Cortés J, Martinez S (2009) Distributed control of robotic networks. A mathematical approach to motion coordination algorithms. Princeton University Press, Princeton
Ding X, Rahmani A, Egerstedt M (2009) Optimal multi-UAV convoy protection. In: Second international conference on robot communication and coordination ROBOCOMM ’09
Fiacchini M, Morărescu IC (2014) Convex conditions on decentralized control for graph topology preservation. IEEE Trans Autom Control 59(6):1640–1645
Halgamuge MN, Guru SM, Jennings A (2003) Energy efficient cluster formation in wireless sensor networks. In: 10th international conference on telecommunications
Heemels W, Johansson K, Tabuada P (2012) An introduction to event-triggered and self-triggered control. In: IEEE conference on decision and control
Hetel L, Daafouz J, Tarbouriech S, Prieur C (2013) Stabilization of linear impulsive systems through a nearly-periodic reset. Nonlinear Anal: Hybrid Syst 7:4–15
Jadbabaie A, Lin J, Morse AS (2003) Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans Autom Control 48(6):988–1001
Jiang ZP, Nijmeijer H (1997) Tracking control of mobile robots: a case study in backstepping. Automatica 33(7):1393–1399
Kanayama Y, Kimura Y, Miyazaki F, Noguchi T (1990) A stable tracking control method for an autonomous mobile robot. In: IEEE international conference on robotics and automation
Kolmanovsky H, McClamroch N (1995) Developments in nonholonomic control systems. IEEE Control Syst Mag 15(6):20–36
Lin X, Cassandras C (2014) Trajectory optimization for multi-agent persistent monitoring in two-dimensional spaces. In: IEEE conference on decision and control
Mahacek P, Kitts C, Mas I (2011) Dynamic guarding of marine assets through cluster control of automated surface vessel fleets. IEEE/ASME Trans Mechatron 17(1):65–75
Martin S, Girard A (2013) Continuous-time consensus under persistent connectivity and slow divergence of reciprocal interaction weights. SIAM J Control Opt 51(3):2568–2584
McClamroch N, Wang D (1988) Feedback stabilization and tracking of constrained robots. IEEE Trans Autom Control 33:419–426
Michiels W, Morarescu IC, Niculescu SI (2009) Consensus problems with distributed delays, with application to traffic flow models. SIAM J Control Opt 48(1):77–101
Moreau JJ (1988) Unilateral contact and dry friction in finite freedom dynamics. In: Moreau JJ, Panagiotopoulos PD (eds) Nonsmooth mechanics and applications, vol 302. CISM courses and lectures. Springer, New York
Moreau L (2005) Stability of multiagent systems with time-dependent communication links. IEEE Trans Autom Control 50(2):169–182
Morărescu IC, Brogliato B (2010a) Passivity-based switching control of flexible-joint complementarity mechanical systems. Automatica 46(1):160–166
Morărescu IC, Brogliato B (2010b) Passivity-based tracking control of multiconstraint complementarity Lagrangian systems. IEEE Trans Autom Control 55(6):1300–1310
Olfati-Saber R, Murray R (2004) Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans Autom Control 49:1520–1533
Panteley E, Lefeber E, Loria A, Nijmeijer H (1998) Exponential tracking control of a mobile car using a cascaded approach. In: IFAC workshop on motion control
Postoyan R, Tabuada P, Nesic D, Anta A (2011) Event-triggered and self-triggered stabilization of distributed networked control systems. In: Joint IEEE conference on decision and control and European control conference, pp 2565–2570
Ratliff LJ, Dong R, Ohlsson H, Cárdenas AA, Sastry SS (2014) Privacy and customer segmentation in the smart grid. In: IEEE conference on decision and control
Ren W, Beard R (2004) Formation feedback control for multiple spacecraft via virtual structures. IEEE Proc Control Theory Appl 151:357–368
Samad T, Bay J, Godbole D (2007) Network-centric systems for military operations in urban terrain: the role of UAVs. Proc IEEE 95(1):92–107
Samson C, Ait-Abderrahim K (1991) Feedback control of a nonholonomic wheeled cart in Cartesian space. In: IEEE international conference on robotics and automation, pp 1136–1141
Sariel S, Balch T, Stack J (2006) Distributed multi-AUV coordination in naval mine countermeasure missions. Technical report, Georgia Institute of Technology
Scharf DP, Hadaegh FY, Ploen SR (2003) A survey of spacecraft formation flying guidance and control (part i): guidance. In: American control conference, vol 2, pp 1733–1739
Scharf DP, Hadaegh FY, Ploen SR (2004) A survey of spacecraft formation flying guidance and control (part ii): control. In: American control conference, vol 4. IEEE, pp 2976–2985
Su H, Chen G, Wang X, Lin Z (2011) Adaptive second-order consensus of networked mobile agents with nonlinear dynamics. Automatica 47(2):368–375
Sun K, Peng P, Ning P, Wang C (2006) Secure distributed cluster formation in wireless sensor networks. In: 22nd annual computer security applications conference
Tanner H, Jadbabaie A, Pappas G (2007) Flocking in fixed and switching networks. IEEE Trans Autom Control 52(5):863–867
Acknowledgments
This work was supported by a Programme Hubert Curien-Brancusi cooperation grant (CNCS-UEFISCDI contract no. 781/2014 and Campus France grant no. 32610SE) and by the PICS project No 6614 “Artificial-Intelligence-Based Optimization for the Control of Networked and Hybrid Systems”. Additionally, the work of L. Buşoniu was supported by the Romanian National Authority for Scientific Research, CNCS-UEFISCDI (No. PNII-RU-TE-2012-3-0040). The work of I.-C. Morărescu was partially funded by the National Research Agency (ANR) project “Computation Aware Control Systems” (No. ANR-13-BS03-004-02).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Bragagnolo, M.C., Morărescu, IC., Buşoniu, L., Riedinger, P. (2015). Decentralized Formation Control in Fleets of Nonholonomic Robots with a Clustered Pattern. In: Busoniu, L., Tamás, L. (eds) Handling Uncertainty and Networked Structure in Robot Control. Studies in Systems, Decision and Control, vol 42. Springer, Cham. https://doi.org/10.1007/978-3-319-26327-4_13
Download citation
DOI: https://doi.org/10.1007/978-3-319-26327-4_13
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-26325-0
Online ISBN: 978-3-319-26327-4
eBook Packages: EngineeringEngineering (R0)