| 摘要: |
| Coordination of motion between multiple robots requires the robots to sense their relative poses. Common sensors depend on maintaining a line-of-sight between the sensor and the object being sensed. When the robots move relative to one another, they must coordinate their motions to ensure that these lines-of-sight are preserved. We propose a control method to preserve desired lines-of-sight in a multi-robot system where each robot has configuration space SE(3). A key feature of the control method is its ability to reject persistent bounded disturbances, enabling its use alongside additional control tasks. We demonstrate the effectiveness of the edge-preserving control in simulations involving additional input velocities that tend to break the edges. |
| 关键词: Multi-robot coordination, decentralized control, graph theoretic control |
| DOI： |
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| 基金项目: |
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| Cooperative visibility maintenance in SE(3) for multi-robot-networks with limited field-of-view sensors |
| H. A. Poonawala,M.W. Spong |
| (Institute for Computational Engineering & Sciences, University of Texas, Austin, TX 78712, U.S.A.;Erik Jonsson School of Engineering & Computer Science, University of Texas at Dallas, Richardson, TX 75080, U.S.A.) |
| Abstract: |
| Coordination of motion between multiple robots requires the robots to sense their relative poses. Common sensors depend on maintaining a line-of-sight between the sensor and the object being sensed. When the robots move relative to one another, they must coordinate their motions to ensure that these lines-of-sight are preserved. We propose a control method to preserve desired lines-of-sight in a multi-robot system where each robot has configuration space SE(3). A key feature of the control method is its ability to reject persistent bounded disturbances, enabling its use alongside additional control tasks. We demonstrate the effectiveness of the edge-preserving control in simulations involving additional input velocities that tend to break the edges. |
| Key words: Multi-robot coordination, decentralized control, graph theoretic control |
