A Behavior Control Scheme for Multi-Robot Systems under Human Intervention

被引：0

作者：

Huang, Jie ^{[1
]}

Wu, Wenhua ^{[1
]}

Ning, Yingying ^{[2
]}

Zhou, Ning ^{[3
]}

Xu, Zezhuang ^{[1
]}

机构：

[1] Fuzhou Univ, Coll Elect Engn & Automat, Fuzhou 350108, Peoples R China

[2] Fujian Inst Educ, Fuzhou 350000, Peoples R China

[3] Fujian Agr & Forestry Univ, Coll Comp & Informat Sci, Fuzhou 350002, Peoples R China

来源：

PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年

基金：

欧洲研究理事会; 中国国家自然科学基金;

关键词：

Human intervention; behavioral control; multi-robot systems; formation control; HUMAN-ROBOT INTERACTION;

D O I：

10.23919/chicc.2019.8866251

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the behavioral control of a group of autonomous robots under human intervention, and each agent is modeled by an single integrator. The human-dominated task and robot self-determination task functions are designed, respectively, and they are elaborately merged by the proposed behavioral control framework. The human intervention has the highest authority to change the priority of the tasks. Finally, the case studies show that the proposed method can effectively solve the multi-task conflict problem under human intervention and realize the formation of robots.

引用

页码：6189 / 6193

页数：5

共 50 条

[31] Adaptive Distributed Fault-tolerant Formation Control for Multi-robot Systems under Partial Loss of Actuator Effectiveness [J].

Chang, Yeong-Hwa ;

Wu, Chun-I ;

Lin, Hung-Wei .

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2018, 16 (05) :2114-2124

[32] Adaptive Distributed Fault-tolerant Formation Control for Multi-robot Systems under Partial Loss of Actuator Effectiveness [J].

Yeong-Hwa Chang ;

Chun-I Wu ;

Hung-Wei Lin .

International Journal of Control, Automation and Systems, 2018, 16 :2114-2124

[33] Formation control and path planning of multi-robot systems via large language models [J].

Dong Xue ;

Xuanjie Zhou ;

Ming Wang ;

Fangzhou Liu .

Science China Information Sciences, 2025, 68 (5)

[34] Robust Consensus-based Formation Control of Multi-robot Systems with Guaranteed Safety [J].

Liu, Xu ;

Liu, Xiangbin ;

Zou, Lang ;

Wang, Jian .

2024 IEEE 19TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS, ICIEA 2024, 2024,

[35] Dynamic Leader Allocation in Multi-robot Systems Based on Nonlinear Model Predictive Control [J].

Augusto de Holanda B. M. Tavares ;

Sarah Pontes Madruga ;

Alisson V. Brito ;

Tiago P. Nascimento .

Journal of Intelligent & Robotic Systems, 2020, 98 :359-376

[36] A switched-system approach to formation control and heading consensus for multi-robot systems [J].

Jin, Jingfu ;

Ramirez, Juan-Pablo ;

Wee, SungGil ;

Lee, DongHa ;

Kim, YoonGu ;

Gans, Nicholas .

INTELLIGENT SERVICE ROBOTICS, 2018, 11 (02) :207-224

[37] Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian [J].

Wu, Xiru ;

Wu, Rili ;

Zhang, Yuchong ;

Peng, Jiansheng .

ENTROPY, 2023, 25 (11)

[38] Multi-robot formation control using distance and orientation [J].

Lopez-Gonzalez, A. ;

Ferreira, E. D. ;

Hernandez-Martinez, E. G. ;

Flores-Godoy, J. J. ;

Fernandez-Anaya, G. ;

Paniagua-Contro, P. .

ADVANCED ROBOTICS, 2016, 30 (14) :901-913

[39] Dynamic Leader Allocation in Multi-robot Systems Based on Nonlinear Model Predictive Control [J].

Tavares, Augusto de Holanda B. M. ;

Madruga, Sarah Pontes ;

Brito, Alisson V. ;

Nascimento, Tiago P. .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2020, 98 (02) :359-376

[40] A switched-system approach to formation control and heading consensus for multi-robot systems [J].

Jingfu Jin ;

Juan-Pablo Ramirez ;

SungGil Wee ;

DongHa Lee ;

YoonGu Kim ;

Nicholas Gans .

Intelligent Service Robotics, 2018, 11 :207-224

← 1 2 3 4 5 →