相关论文: Securing Isosceles Triangular Formations under Het…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
In this paper, we develop a hybrid distance-angle rigidity theory that involves heterogeneous distances (or unsigned angles) and signed constraints for a framework in the 2-D and 3-D space. The new rigidity theory determines a (locally)…
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution for this type of problems was given first for three or four…
We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelihood of failures depends on the proximity between the targets…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…