Obstacle avoidance policies for cluster space control of nonholonomic multirobot systems

IEEE/ASME Transactions on Mechatronics

Volumn 17, Issue 6, 2012, Pages 1068-1079

  Mas, Ignacio ^a   Kitts, Christopher ^a  

^a Santa Clara University   (United States)

Author keywords

Collision avoidance; mobile robots; multirobot systems; robot control

Indexed keywords

EXPERIMENTAL TEST; LYAPUNOV SENSE; MULTI-ROBOT SYSTEMS; MULTIROBOTS; NON-HOLONOMIC MOBILE ROBOTS; NONHOLONOMICS; OBSTACLE AVOIDANCE ALGORITHMS; ROBOT CONTROLS; SPACE CONTROL;

COLLISION AVOIDANCE; INDUSTRIAL ROBOTS; MOBILE ROBOTS; SYSTEM STABILITY;

CONTROLLERS;

EID: 84865696671     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2011.2159988     Document Type: Article

References (48)

1. C. Kitts andM. Egerstedt, "Design, control, and applications of real-world multirobot systems," IEEE Robot. Autom. Mag., vol. 15, no. 1, p. 8, Mar. 2008.
2. V. Kumar, N. E. Leonard, and A. S. Morse, Cooperative Control: A Post-Workshop Volume, 2003 Block Island Workshop on Cooperative Control. New York: Springer-Verlag, 2005.
3. Z. Wang and D. Gu, "A local sensor based leader-follower flocking system," in Proc. IEEE Int. Conf. Robot. Autom., May 2008, pp. 3790-3795.
4. R. Fierro, A. Das, J. Spletzer, J. Esposito, V. Kumar, J. Ostrowski, G. Pappas, C. Taylor, Y. Hur, R. Alur, I. Lee, G. Grudic, and B. Southall, "A framework and architecture for multi-robot coordination," Int. J. Robot. Res., vol. 21, no. 10-11, pp. 977-995, Oct./Nov. 2002.
5. B. Smith, H. A., J. McNew, J. Wang, and M. Egerstedt, "Multi-robot deployment and coordination with embedded graph grammars," Auton. Robots, vol. 26, no. 1, pp. 79-98, Jan. 2009.
6. A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. Taylor, "A vision-based formation control framework," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 813-825, Oct. 2002.
7. P. Song and V. Kumar, "A potential field based approach to multi-robot manipulation," in Proc. IEEE Int. Conf. Robot. Autom., 2002, vol. 2, pp. 1217-1222. (Pubitemid 34916416)
8. T. Balch and R. Arkin, "Behavior-based formation control for multirobot teams," IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 926-939, Dec. 1998. (Pubitemid 128743571)
9. R. Dougherty, V. Ochoa, Z. Randles, and C. Kitts, "A behavioral control approach to formation-keeping through an obstacle field," in Proc. IEEE Aerosp. Conf., Mar. 2004, vol. 1, p. 175.
10. F. Schneider and D. Wildermuth, "A potential field based approach to multi robot formation navigation," in Proc. IEEE Int. Conf. Robot., Intell. Syst. Signal Process., Oct. 2003, vol. 1, pp. 680-685.
11. K.-H. Tan and M. Lewis, "Virtual structures for high-precision cooperative mobile robotic control," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Nov. 1996, vol. 1, pp. 132-139.
12. N. Leonard and E. Fiorelli, "Virtual leaders, artificial potentials and coordinated control of groups," in Proc. 40th IEEE Conf. Decis. Control., 2001, vol. 3, pp. 2968-2973. (Pubitemid 34139418)
13. E. Fiorelli, N. Leonard, P. Bhatta, D. Paley, R. Bachmayer, and D. Fratantoni, "Multi-AUV control and adaptive sampling in Monterey Bay," in IEEE/OES Proc. Auton. Underwater Veh., Jun. 2004, pp. 134-147. (Pubitemid 40893291)
14. G. Antonelli and S. Chiaverini, "Kinematic control of platoons of autonomous vehicles," IEEE Trans. Robot., vol. 22, no. 6, pp. 1285-1292, Dec. 2006. (Pubitemid 44921756)
15. S. Liu, D. Sun, and C. Zhu, "Coordinated motion planning for multiple mobile robots along designed paths with formation requirement," IEEE/ASME Trans Mechatronics, vol. PP, no. 99, pp. 1-11. (Sep. 2010). [Online]. Available: http://ieeexplore.ieee.org, DOI: 10.1109/TMECH.2010.2070843.
16. M. McMickell and B. Goodwine, "Motion planning for nonlinear symmetric distributed robotic formations," Int. J. Robot. Res., vol. 26, no. 10, pp. 1025-1041, 2007. (Pubitemid 47479277)
17. M. Peasgood, C. Clark, and J.McPhee, "A complete and scalable strategy for coordinating multiple robots within roadmaps," IEEE Trans. Robot., vol. 24, no. 2, pp. 283-292, Apr. 2008. (Pubitemid 351586007)
18. R. Brooks, "A robust layered control system for a mobile robot," IEEE J. Robot. Autom., vol. 2, no. 1, pp. 14-23, Mar. 1986. (Pubitemid 16576274)
19. J. Connell and P. Viola, "Cooperative control of a semi-Autonomous mobile robot," in Proc. IEEE Int. Conf. Robot. Autom., May 1990, vol. 2, pp. 1118-1121.
20. N. J. Nilsson, "Teleo-reactive programs for agent control," J. Artif. Intell. Res., vol. 1, pp. 139-158, 1994.
21. B. H. Krogh, "A generalized potential field approach to obstacle avoidance control," Society of Manufacturing Engineers, Dearborn MI, SME-RI Tech. Paper MS84-184, Aug. 1984.
22. O. Khatib, "Real-Time obstacle avoidance for manipulators and mobile robots," in Proc. IEEE Int. Conf. Robot. Autom.,Mar. 1985, vol. 2, pp. 500-505.
23. R. C. Arkin, "Motor schema-Based mobile robot navigation," Int. J. Robot. Res., vol. 8, no. 4, pp. 92-112, Aug. 1989.
24. Y. Koren and J. Borenstein, "Potential field methods and their inherent limitations for mobile robot navigation," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 1991, vol. 2, pp. 1398-1404. (Pubitemid 21717107)
25. J.-O. Kim and P. Khosla, "Real-Time obstacle avoidance using harmonic potential functions," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 1991, vol. 1, pp. 790-796. (Pubitemid 21717194)
26. R. Clark, R. Arkin, and A. Ram, "Learning momentum: Online performance enhancement for reactive systems," in IEEE Int. Conf. Robot. Autom., May 1992, vol. 1, pp. 111-116. (Pubitemid 23590880)
27. Q. Jia and G. Li, "Formation control and obstacle avoidance algorithm of multiple autonomous underwater vehicles (AUVs) based on potential function and behavior rules," in Proc. IEEE Int. Conf. Autom. Logist., Aug. 2007, pp. 569-573. (Pubitemid 351370457)
28. S. Mastellone, D. Stipanovic, C. Graunke, K. Intlekofer, and M. Spong, "Formation control and collision avoidance for multi-Agent nonholonomic systems: Theory and experiments," Int. J. Robot. Res., vol. 27, no. 1, pp. 107-126, Jan. 2008. (Pubitemid 350261242)
29. A. Fujimori, T. Saito, and G. Bohacs, "Formated navigation of mobile robots with obstacle avoidance," in Proc. IEEE Conf. Robot., Autom. Mechatronics, Jun. 2006, pp. 1-6.
30. C. De la Cruz and R. Carelli, "Dynamic model based formation control and obstacle avoidance of multi-robot systems," Robotica, vol. 26, no. 3, pp. 345-356, 2008. (Pubitemid 351641173)
31. C. A. Kitts and I. Mas, "Cluster space specification and control of mobile multirobot systems," IEEE/ASME Trans. Mechatronics, vol. 14, no. 2, pp. 207-218, Apr. 2009.
32. R. Ishizu, "The design, simulation and implementation of multi-robot collaborative control from cluster perspective" Master's thesis, Dept. Electr. Eng., Santa Clara Univ., Santa Clara, CA, Dec. 2005.
33. P. Connolley, "Design and implementation of a cluster space trajectory controller for multiple holonomic," Master's thesis, Dept. Mech. Eng., Santa Clara Univ., Santa Clara, CA, Jun. 2006.
34. M. Kalkbrenner, "Design and implementation of a cluster space human interface controller, including applications to multi-robot piloting and multi-robot object manipulation,"Master's thesis,Dept. Mech.Eng., Santa Clara Univ., Santa Clara, CA, Jun. 2006.
35. C. Kitts,K. Stanhouse, and P.Chindaphorn, "Cluster space collision avoidance for mobile two-robot systems," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2009, pp. 1941-1948.
36. I. Mas, O. Petrovic, and C. Kitts, "Cluster space specification and control of a 3-robot mobile system," in Proc. IEEE Int. Conf. Robot. Autom., May 2008, pp. 3763-3768.
37. E. Girod, "Design and implementation of four robot cluster space control," Master's thesis, Dept. Electr. Eng., Santa Clara Univ., Santa Clara, CA, Jun. 2008.
38. I. Mas and C. Kitts, "Centralized and decentralized multi-robot control methods using the cluster space control framework," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatronics, 2010, pp. 115-122.
39. D. Stipanovic, P. Hokayem, M. W. Spong, and D. Siljak, "Cooperative avoidance control for multiagent systems," J. Dyn. Syst., Meas., Control, vol. 129, no. 5, pp. 699-707, 2007. (Pubitemid 47549404)
40. M. Schwager, D. Rus, and J. Slotine, "Decentralized, adaptive coverage control for networked robots," Int. J. Robot. Res., vol. 28, no. 3, pp. 357-375, 2009.
41. I. Mas, S. Li, J. Acain, and C. Kitts, "Entrapment/escorting and patrolling missions in multi-robot cluster space control," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2009, pp. 5855-5861.
42. P. Mahacek, I. Mas, O. Petrovic, J. Acain, and C. Kitts, "Cluster space control of autonomous surface vessels," Marine Technol. Soc. J., vol. 43, no. 1, pp. 13-20, 2009.
43. J. Craig, Introduction to Robotics, Mechanics and Control, 3rd ed. Englewood Cliffs, NJ: Prentice-Hall, 2005.
44. I. Mas, J. Acain, O. Petrovic, and C. Kitts, "Error characterization in the vicinity of singularities in multi-robot cluster space control," in Proc. IEEE Int. Conf. 2008 IEEE Robot. Biomimetics, Bangkok, Thailand, Feb. 2009, pp. 1911-1917.
45. G. Leitmann and J. Skowronski, "Avoidance control," J. Optim. Theory Appl., vol. 23, pp. 581-591, 1977.
46. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge, U.K.: Cambridge Univ. Press, 2004.
47. T. To, "Automated cluster space trajectory control of two non-holonomic robots,"Master's thesis,Dept. Electr. Eng., Santa ClaraUniv., Santa Clara, CA, Jun. 2006.
48. S. Agnew, "Cluster space control of a 2-robot aerial system," Master's thesis, Dept. Mech. Eng., Santa Clara Univ., Santa Clara, CA, Jun. 2009.