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40
Distributed control of robotic networks: a mathematical approach to motion coordination algorithms
, 2009
"... (i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 ..."
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Cited by 41 (1 self)
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(i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 “Distributed Control of Robotic Networks ” by F. Bullo, J. Cortés and S. Martínez
Distributed geodesic control laws for flocking of nonholonomic agents
- IEEE Transaction on Automatic Control
, 2005
"... Abstract—We study the problem of flocking and velocity alignment in a group of kinematic nonholonomic agents in 2 and 3 dimensions. By analyzing the velocity vectors of agents on a circle (for planar motion) or sphere (for 3-D motion), we develop a geodesic control law that minimizes a misalignment ..."
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Cited by 35 (6 self)
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Abstract—We study the problem of flocking and velocity alignment in a group of kinematic nonholonomic agents in 2 and 3 dimensions. By analyzing the velocity vectors of agents on a circle (for planar motion) or sphere (for 3-D motion), we develop a geodesic control law that minimizes a misalignment potential and results in velocity alignment and flocking. The proposed control laws are distributed and will provably result in flocking when the underlying proximity graph which represents the neighborhood relation among agents is connected. We further show that flocking is possible even when the topology of the proximity graph changes over time, so long as a weaker notion of joint connectivity is preserved. Index Terms—Cooperative control, distributed coordination, flocking, multiagent systems. I.
Decentralized, adaptive control for coverage with networked robots
- In Robotics and Automation, 2007 IEEE International Conference on
, 2007
"... Abstract-A decentralized, adaptive control law is presented to drive a network of mobile robots to a near-optimal sensing configuration. The control law is adaptive in that it integrates sensor measurements to provide a converging estimate of the distribution of sensory information in the environme ..."
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Cited by 31 (10 self)
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Abstract-A decentralized, adaptive control law is presented to drive a network of mobile robots to a near-optimal sensing configuration. The control law is adaptive in that it integrates sensor measurements to provide a converging estimate of the distribution of sensory information in the environment. It is decentralized in that it requires only information local to each robot. A Lyapunov-type proof is used to show that the control law causes the network to converge to a near-optimal sensing configuration, and the controller is demonstrated in numerical simulations. This technique suggests a broader application of adaptive control methodologies to decentralized control problems in unknown dynamical environments.
Collective circular motion of multi-vehicle systems with sensory limitations
- In Proceedings of the 44h IEEE Conference on Decision and Control
, 2005
"... This paper addresses a collective motion problem for a multi-agent system composed of nonholonomic vehicles. The aim of the vehicles is to achieve circular motion around a virtual reference beacon. A control law is proposed, which guarantees global asymptotic stability of the circular motion with a ..."
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Cited by 25 (6 self)
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This paper addresses a collective motion problem for a multi-agent system composed of nonholonomic vehicles. The aim of the vehicles is to achieve circular motion around a virtual reference beacon. A control law is proposed, which guarantees global asymptotic stability of the circular motion with a prescribed direction of rotation, in the case of a single vehicle. Equilibrium configurations of the multi-vehicle system are studied and sufficient conditions for their local stability are given, in terms of the control law design parameters. Practical issues related to sensory limitations are taken into account. The transient behavior of the multivehicle system is analyzed via numerical simulations. 1
Laplacian sheep: Hybrid, stop-go policy for leader-based containment control
- in Hybrid Systems: Computation and Control
, 2006
"... Abstract. The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equa-tions. In particular, we are interested in achieving this transfer while ensuring that the agents stay in the convex polytope spanned by dedi-cated leader-ag ..."
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Cited by 21 (7 self)
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Abstract. The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equa-tions. In particular, we are interested in achieving this transfer while ensuring that the agents stay in the convex polytope spanned by dedi-cated leader-agents, whose dynamics will be given by a hybrid Stop-Go policy. The resulting system ensures containment through the enabling result that under a Laplacian, decentralized control strategy for the fol-lowers, these followers will converge to a location in the convex leader polytope, as long as the leaders are stationary and the interaction graph is connected. Simulation results testify to the viability of the proposed, hybrid control strategy. 1
Model predictive control schemes for consensus in multiagent systems with integrator dynamics and time-varying communication
- In Proc. 3rd International Workshop on Networked Control Systems : Tolerant to Faults
"... Abstract: In this paper we address the problem of driving a group of agents towards a consensus point when agents have a discrete-time integrator dynamics and the communication graph is time-varying. We propose two decentralized Model Predictive Control (MPC) schemes that take into account constrain ..."
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Cited by 16 (1 self)
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Abstract: In this paper we address the problem of driving a group of agents towards a consensus point when agents have a discrete-time integrator dynamics and the communication graph is time-varying. We propose two decentralized Model Predictive Control (MPC) schemes that take into account constraints on the agents ’ inputs and show that they guarantee consensus under mild assumptions. Since the global cost does not decrease monotonically, it cannot be used as a Lyapunov function for proving convergence to consensus. Rather, our proofs exploit geometric properties of the optimal path followed by individual agents.
Motion Probes for Fault Detection and Recovery in Networked Control Systems
, 2008
"... In this paper we address the problem of how to excite networked control systems in such a way that faulty, and possibly malicious, agents can be detected. In particular, we envision a scenario in which a subset of the agents in the network are executing a different control strategy than what has bee ..."
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Cited by 16 (3 self)
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In this paper we address the problem of how to excite networked control systems in such a way that faulty, and possibly malicious, agents can be detected. In particular, we envision a scenario in which a subset of the agents in the network are executing a different control strategy than what has been prescribed and the problem under consideration consists of two subtasks, namely detection of the faulty agents, and isolation and mitigation of their impact on the remaining agents. We achieve this by proposing a collection of "motion probes " that leave certain aspects of the network invariant while ensuring that non-cooperative agents are identified and isolated. While we propose a useful tool to identify the faulty agents, the actual algorithms and policies that make use of the motion probes are left to future research.
Data-driven identification of group dynamics for motion prediction and control
- Journal of Field Robotics
"... A distributed model structure for representing groups of coupled dynamic agents is proposed, and the least-squares method is used for fitting model parameters based on measured position data. The difference equation model embodies a minimalist approach, incorporating only factors essential to the mo ..."
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Cited by 11 (4 self)
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A distributed model structure for representing groups of coupled dynamic agents is proposed, and the least-squares method is used for fitting model parameters based on measured position data. The difference equation model embodies a minimalist approach, incorporating only factors essential to the movement and interaction of physical bodies. The model combines effects from an agent’s inertia, interactions between agents, and interactions between each agent and its environment. Global positioning system tracking data were collected in field experiments from a group of 3 cows and a group of 10 cows over the course of several days using custom-designed, head-mounted sensor boxes. These data are used with the least-squares method to fit the model to the cow groups. The modeling technique is shown to capture overall characteristics of the group as well as attributes of individual group members. Applications to livestock management are described, and the potential for surveillance, prediction, and control of various kinds of groups of dynamic
