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.
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance / Franchi, Antonio; Stegagno, Paolo; Oriolo, Giuseppe. - In: AUTONOMOUS ROBOTS. - ISSN 0929-5593. - STAMPA. - 40:2(2016), pp. 245-265. [10.1007/s10514-015-9450-3]
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance
FRANCHI, ANTONIO
;STEGAGNO, PAOLO
;ORIOLO, Giuseppe
2016
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.| File | Dimensione | Formato | |
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Note: https://link.springer.com/article/10.1007/s10514-015-9450-3
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