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Multi-Robot Control for Circumnavigation of Particle Distributions

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Part of the Springer Tracts in Advanced Robotics book series (STAR,volume 104)

Abstract

In this work, we present a decentralized controller for the tracking and following of mobile targets, specifically addressing considerations of: 1) not altering target behavior, 2) target states represented by multiple hypotheses, and 3) limited information from bearing-only sensors. The proposed controller drives a team of n robots to circumnavigate an arbitrary distribution of target points at a desired radius from the targets. The controller also dictates robot spacing around their circular trajectory by tracking a desired relative phase angle between neighbors. Simulation results show the functionality of the controller for arbitrary-sized teams and arbitrary stationary and moving particle distributions. Additionally, the controller was implemented on OceanServer Iver2 AUVs. Tracking results demonstrate the controller’s capability to track a desired radius as well as maintain phase with respect to a second AUV.

Keywords

  • Mobile Robot
  • Target Tracking
  • Autonomous Underwater Vehicle
  • Virtual Structure
  • Follower Robot

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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  • DOI: 10.1007/978-3-642-55146-8_11
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Correspondence to Sarah Tang .

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Tang, S., Shinzaki, D., Lowe, C.G., Clark, C.M. (2014). Multi-Robot Control for Circumnavigation of Particle Distributions. In: Ani Hsieh, M., Chirikjian, G. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 104. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-55146-8_11

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  • DOI: https://doi.org/10.1007/978-3-642-55146-8_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-55145-1

  • Online ISBN: 978-3-642-55146-8

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