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Decentralized Formation Control in Fleets of Nonholonomic Robots with a Clustered Pattern

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Handling Uncertainty and Networked Structure in Robot Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 42))

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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.

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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).

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Authors and Affiliations

  1. Université de Lorraine, CRAN, UMR 7039, 2 Avenue de la Forêt de Haye, Nancy, France

    Marcos Cesar Bragagnolo, Irinel-Constantin Morărescu & Pierre Riedinger

  2. CNRS, CRAN, UMR 7039, Nancy, France

    Marcos Cesar Bragagnolo, Irinel-Constantin Morărescu & Pierre Riedinger

  3. Automation Department, Technical University of Cluj-Napoca, Memorandumului 28, 400114, Cluj-Napoca, Romania

    Lucian Buşoniu

Authors
  1. Marcos Cesar Bragagnolo
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  2. Irinel-Constantin Morărescu
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  3. Lucian Buşoniu
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  4. Pierre Riedinger
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Corresponding author

Correspondence to Marcos Cesar Bragagnolo .

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Editors and Affiliations

  1. Automation Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Lucian Busoniu

  2. Automation Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Levente Tamás

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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

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  • DOI: https://doi.org/10.1007/978-3-319-26327-4_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26325-0

  • Online ISBN: 978-3-319-26327-4

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