Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance

被引：87

作者：

Franchi, Antonio ^{[1
,2
]}

Stegagno, Paolo ^{[3
]}

Oriolo, Giuseppe ^{[4
]}

机构：

[1] CNRS, LAAS, 7 Ave Colonel Roche, F-31400 Toulouse, France

[2] Univ Toulouse, LAAS, F-31400 Toulouse, France

[3] Max Planck Inst Biol Cybernet, Spemannstr 38, D-72076 Tubingen, Germany

[4] Univ Roma La Sapienza, Dipartimento Ingn Informat Automat & Gest, Via Ariosto 25, I-00185 Rome, Italy

来源：

AUTONOMOUS ROBOTS | 2016年 / 40卷 / 02期

关键词：

Distributed robot systems; Motion control; Multi-robot decentralized control; Encirclement; Escorting; Entrapment; PLANAR COLLECTIVE MOTION; STABILITY; CONSENSUS; SYSTEMS; STABILIZATION; GENERATION; STRATEGIES; DESIGN;

D O I：

10.1007/s10514-015-9450-3

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：245 / 265

页数：21