Nonlinear coordination control for a group of mobile robots using a virtual structure

Mechatronics

Volumn 21, Issue 7, 2011, Pages 1147-1155

  Mehrjerdi, Hasan ^a   Ghommam, Jawhar ^b   Saad, Maarouf ^a  

^a ÉCOLE DE TECHNOLOGIE SUPÉRIEURE   (Canada)

^b UNIVERSITY OF SFAX   (Tunisia)

Author keywords

Coordination; Mobile robots; Nonlinear control; Virtual structure

Indexed keywords

GRAPH THEORY; MOBILE ROBOTS;

COORDINATION; COORDINATION ALGORITHMS; COORDINATION CONTROL; EFFICIENT ARCHITECTURE; LYAPUNOV TECHNIQUES; NON LINEAR CONTROL; TRAJECTORY FOLLOWING; VIRTUAL STRUCTURES;

HUMAN RESOURCE MANAGEMENT;

EID: 80053563932     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2011.06.006     Document Type: Article

References (37)

1. Maalouf E. Nonlinear control of a wheeled mobile robot. Master's thesis, Dept Elect Eng, Quebec University (ETS), Montreal, CA; 2005.
2. T. Balch, and R.C. Arkin Behavior-based formation control for multirobot teams IEEE Trans Robot Autom 14 6 1998 926 939 (Pubitemid 128743571)
3. A. Viguria, and A.M. Howard An integrated approach for achieving multirobot task formations IEEE/ASME Trans Mech 14 2 2009 176 186
4. Y.U. Cao, A.S. Fukunaga, and A.B. Kahng Cooperative mobile robotics: antecedents and directions Auton Robots 4 1 1997 7 27 (Pubitemid 127508273)
5. D. Guzzoni, A. Cheyer, L. Julia, and K. Konolige Many robots make short work AI Mag 18 1 1997 55 64
6. M. Schneider-Fontan, and M. Mataric Territorial multi-robot task division IEEE Trans Robot Autom 14 5 1998 815 822 (Pubitemid 128743560)
7. D. Goldberg, and M. Mataric Interference as a tool for designing and evaluating multi-robot controllers J Robot Auton Syst 8 1997 637 642
8. J. Huang, S.M. Farritor, A. Qadi, and S. Goddard Localization and follow-the-leader control of a heterogeneous group of mobile robots IEEE/ASME Trans Mech 11 2 2006 205 215
9. M.A. Lewis, and K.H. Tan High precision formation control of mobile robots using virtual structures Auton Robots 4 4 1997 387 403 (Pubitemid 127508784)
10. R.W. Beard, J. Lawton, and F.Y. Hadaegh A coordination architecture for spacecraft formation control IEEE Trans Control Syst Technol 9 6 2001 777 790 (Pubitemid 33106212)
11. H. Li, and S.X. Yang A behavior-based mobile robot with a visual landmark-recognition system IEEE/ASME Trans Mech 8 3 2003 390 400
12. J.R.T. Lawton, R.W. Beard, and B.J. Young Decentralized approach to formation maneuvers IEEE Trans Robot Autom 19 6 2003 933 941
13. A. Howard, L.E. Parker, and G.S. Sukhatme Experiments with a large heterogeneous mobile robot team: exploration, mapping, deployment and detection Int J Robot Res 25 5-6 2006 431
14. F.R. Noreils Toward a robot architecture integrating cooperation between mobile robots: application to indoor environment Int J Robot Res 12 1 1993 79 98
15. Fiorelli E, Leonard NE, Bhatta P, Paley D, Bachmayer R, Fratantoni DM. Multi-AUV control and adaptive sampling in Monterey bay. In: Proceedings IEEE Autonomous underwater vehicles 2004: workshop on multiple AUV operations, Sebasco, ME, June 2004, p. 134-47. (Pubitemid 40893291)
16. D.J. Stilwell, and B.E. Bishop Platoons of underwater vehicles IEEE Control Syst Mag 20 6 2000 45 52 (Pubitemid 32074954)
17. R.W. Beard, J. Lawton, and F.Y. Hadaegh A coordination architecture for spacecraft formation control IEEE Trans Control Syst Technol 9 6 2001 777 790 (Pubitemid 33106212)
18. R.W. Beard, T.W. McLain, D.B. Nelson, D. Kingston, and D. Johanson Decentralized cooperative aerial surveillance using fixed-wing miniature UAVs Proc IEEE 94 7 2006 1306 1324
19. Seanor B, Gu Y, Napolitano MR, Campa G, Gururajan S, Rowe L. 3-aircraft formation flight experiments. In: 14th Mediterranean conference on control and automation, Ancona, July 2006.
20. Skjetne R, Moi S, Fossen TI. Nonlinear formation control of marine craft. In: Proceedings 41st IEEE conference on decision and control, Las Vegas, Nevada, USA; 2002. p. 1699-704.
21. E. Yang, and D. Gu Nonlinear formation-keeping and mooring control of multiple autonomous underwater vehicles IEEE/ASME Trans Mech 12 2 2007 164 178 (Pubitemid 46629539)
22. P. Tabuada, G.J. Pappas, and P. Lima Motion feasibility of multi-agent formations IEEE Trans Robot 21 3 2005 387 392 (Pubitemid 40858154)
23. C.A.C. Parker, and H. Zhang Cooperative decision-making in decentralized multiple-robot systems: the best-of-N problem IEEE/ASME Trans Mech 14 2 2009 240 251
24. T. Dierks, and S. Jagannathan Neural network output feedback control of robot formations IEEE Trans Syst Man Cybern - Part B: Cybern 40 2 2010 383 399
25. J.A. Fax, and R.M. Murray Information flow and cooperative control of vehicle formations IEEE Trans Autom Control 49 9 2004 1465 1476
26. E. Klavins Communication complexity of multi-robot systems Algorith Found Robot 7 2003 275 292
27. J. Takahashi, T. Yamaguchi, K. Sekiyama, and T. Fukuda Communication timing control and topology reconfiguration of a sink-free meshed sensor network with mobile robots IEEE/ASME Trans Mech 14 2 2009 187 197
28. J. Ghommam, H. Mehrjerdi, M. Saad, and F. Mnif Formation path following control of unicycle-type mobile robots Robot Auton Syst 58 5 2010 727 736
29. C. Godsil, and G. Royle Algebraic graph theory, graduated texts in mathematics 2001 Springer-Verlag New York, Inc.
30. Ghommam J, Calvo O, Rozenfeld A. Coordinated path following for multiple underactuated AUVs. OCEANS 2008-MTS/IEEE Kobe Techno-Ocean; 2008. p. 1-7.
31. A. Franchi, L. Freda, G. Oriolo, and M. Vendittelli The sensor-based random graph method for cooperative robot exploration IEEE/ASME Trans Mech 14 2 2009 163 175
32. C. Belta, and V.K. Kumar Abstraction and control of groups of robots IEEE Trans Robot 20 5 2004 865 875
33. J.A. Marshall, T. Fung, M.E. Broucke, G.M.T. DEleuterio, and B.A. Francis Experiments in multirobot coordination Robot Auton Syst 54 3 2006 265 275 (Pubitemid 43255422)
34. H.K. Khalil Nonlinear systems 2002 Prentice Hall
35. R. Ghabcheloo, A. Pascoal, and C. Silvestre Nonlinear coordinated path-following control of multiple wheeled robots with bi-directional communication constraints Int J Adapt Control Signal Process 21 2-3 2007 133 157
36. B. Siciliano, and O. Khatib Handbook of robotics 2008 Springer
37. Y. Hong, J. Hu, and L. Gao Tracking control for multi-agent consensus with an active leader and variable topology Automatica 47 2 2006 1177 1182 (Pubitemid 43767488)