84
views
0
recommends
+1 Recommend
0 collections
    0
    shares
      • Record: found
      • Abstract: found
      • Article: found
      Is Open Access

      Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance

      Preprint
      , ,

      Read this article at

          There is no author summary for this article yet. Authors can add summaries to their articles on ScienceOpen to make them more accessible to a non-specialist audience.

          Abstract

          We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and only requires local communication among robots; in particular, each robot locally estimates all the relevant global quantities. We validate the proposed strategy through simulations on kinematic point robots and quadrotor UAVs, as well as experiments on differential-drive wheeled mobile robots.

          Related collections

          Author and article information

          Journal
          2013-07-26
          2015-06-19
          Article
          10.1007/s10514-015-9450-3
          1307.7170
          5d0b606d-928f-432c-9ad3-0b99e0245402

          http://arxiv.org/licenses/nonexclusive-distrib/1.0/

          History
          Custom metadata
          Autonomous Robots February 2016, Volume 40, Issue 2, pp 245-265, First online: 11 July 2015
          Accepted for Autonomous Robots - Springer
          cs.SY cs.MA cs.RO math.OC

          Numerical methods,Performance, Systems & Control,Robotics,Artificial intelligence

          Comments

          Comment on this article