Formation control and collision avoidance for multi-agent non-holonomic systems: Theory and experiments

International Journal of Robotics Research

Volumn 27, Issue 1, 2008, Pages 107-126

  Mastellone, Silvia ^a   Stipanović, Dušan M ^a   Graunke, Christopher R ^a   Intlekofer, Koji A ^a   Spong, Mark W ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

Autonomous agents; Collision avoidance; Control of non holonomic systems; Distributed robot systems; Formation control; Wheeled robots

Indexed keywords

AUTONOMOUS AGENTS; COLLISION AVOIDANCE; DECENTRALIZED CONTROL; LYAPUNOV FUNCTIONS; MOBILE ROBOTS;

DISTRIBUTED ROBOT SYSTEMS; FORMATION CONTROL; NON-HOLONOMIC SYSTEMS; WHEELED ROBOTS;

MULTI AGENT SYSTEMS;

EID: 37149040249     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364907084441     Document Type: Article

References (32)

1. Atkar, P.N., Choset, H. and Rizzi, A.A. (2002). Distributed cooperative control of multiple vehicle formations using structural potential functions. Proceedings of the 15th IFAC World Congress, Barcelona, Spain, 21-26 July.
2. Balch, T. and Arkin, R.C. (1998). Behavior-based formation control for multirobot systems. IEEE Transactions on Robotics and Automation, 14 (12). 926 - 939.
3. Bloch, A. and Drakunov, A. 1995 ). Tracking in nonholonomic dynamic systems via sliding modes. Proceedings of the IEEE Conference on Decision and Control, New Orleans, LA, 13-15 December.
4. Canudas de Wit, C., Siciliano, B. and Bastine, G. (1996). Theory of Robot Control. London, Springer.
5. Desai, J.P., Kumar, V. and Ostrowski, J.P. (1999). Control of changes in formation for a team of mobile robots. Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, MI, 10-15 May.
6. Desai, J.P., Kumar, V. and Ostrowski, J.P. (2001). Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 17 (6). 905 - 908.
7. Dong, W., Huo, W., Tso, S.K. and Xu, W.L. (2000). Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots. IEEE Transactions on Robotics and Automation, 16 (6). 870 - 874.
8. Dunbar, W.B. and Murray, R.M. (2006). Distributed receding horizon control for multi-vehicle formation stabilization. Automatica, 42 (4). 549 - 558.
9. Egerstedt, M. and Hu, X. (2001). Formation constrained multi-agent control. IEEE Transactions on Robotics and Automation, 17 (6). 947 - 951.
10. Justh, E.W. and Krishnaprasad, P.S. (2004). Equilibria and steering laws for planar formations. Systems and Control Letters, 52: 25 - 38.
11. Khatib, O. (1986). Real-time obstacle avoidance for manipulators and mobile robots. International Journal of Robotics Research, 5 (1). 90 - 98.
12. Leitmann, G. (1980). Guaranteed avoidance strategies. Journal of Optimization Theory and Applications, 32: 569 - 576.
13. Leitmann, G. and Skowronski, J. (1977). Avoidance control. Journal of Optimization Theory and Applications, 23: 581 - 591.
14. Leonard, N.E. and Fiorilli, E. (2001 a). Collective motion: bistability and trajectory tracking. Proceedings of the IEEE Conference on Decision and Control, Orlando, FL, 4-7 December.
15. Leonard, N.E. and Fiorilli, E. (2001 b) Dec. 4-7. Virtual leaders, artificial potentials and coordinated control of groups. Proceedings of the IEEE Conference on Decision and Control, Orlando, FL, 4-7 December.
16. Micaelli, A. and Samson, C. (1993). Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. Techical Report, INRIA.
17. Morgansen, K. (2001). Controllability and trajectory tracking for classes of cascade-form second order nonholonomic systems. Proceedings of the IEEE Conference on Decision and Control, Orlando, FL, 4-7 December.
18. Murray, R.M. 2007. Recent research in cooperative control of multi-vehicle systems. Journal of Dynamic Systems, Measurement and Control 129 (5). 571 - 583.
19. Murray, R.M., Li, Z. and Sastry, S. (1994). A Mathematica Introduction to Robotic Manipulation. Boca Raton, FL, CRC Press.
20. gren, P., Fiorelli, E. and Leonard, N.E. (2004). Cooperative control of mobile sensor networks: adaptive gradient climbing in a distributed environment. IEEE Transactions on Automatic Control, 49 (8). 1292 - 1302.
21. Parker, L.E. (1993). Designing control laws for cooperative agent teams. Proceedings IEEE International Conference on Robotics and Automation, 2-6 May.
22. Sepulchre, R., Paley, D. and Leonard, N.E. (2004). Collective motion and oscillator synchronization. Proceedings 16th Symposium on Mathematical Theorey of networks and Systems, Leuven, Belgium, p. 308.
23. Sontag, E. (2006). Input to State Stability: Basic Concepts and Results. Berlin, Springer.
24. Stipanovi, D.M., Hokayem, P.F., Spong, M.W. and iljak, D.D. (2007). Cooperative Avoidance Control for Multiagent Systems. Journal of Dynamic Systems, Measurement and Control 129 (5). 699 - 707.
25. Stipanovi, D.M., Inalhan, G., Teo, R. and Tomlin, C.J. (2004). Decentralized overlapping control of a formation of unmanned aerial vehicles. Automatica, 40: 1285 - 1296.
26. Swaroop, D. and Hedrick, J.K. 1996. String stability of interconnected systems. IEEE Transactions on Automatic Control, 41 (3). 349 - 357.
27. Tanner, H.G. 2004. ISS properties of nonholonomic vehicles. Systems and Control Letters, 53 (3 - 4). 229 - 235.
28. Tanner, H.G., Loizou, S. and Kyriakopoulos, K.J. (2001). Nonholonomic stabilization with collision avoidance for mobile robots. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, 29 October-3 November.
29. Tanner, H.G., Pappas, G.J. and Kumar, V. (2002). Input-to-state stability on formation graphs. Proceedings of the IEEE Conference on Decision and Control, Las Vegas, NV, 10- 13 December.
30. Tanner, H.G., Pappas, G.J. and Kumar, V. (2004). Leader-to-formation stability. IEEE Transactions on Robotics and Automation, 20 (3). 433 - 455.
31. iljak, D.D. (1991). Decentralized Control of Complex Systems. Boston, MA, Academic Press.
32. Wu, Y., Wang, B. and Zong, G.D. (2005). Finite-time tracking controller design for nonholonomic systems with extended chained form. IEEE Transactions on Circuits and Systems-II: Express Briefs, 52 (11). 798 - 802.