Distributed Optimal Control Based on Internal Average Kinetic Energy for Multi-robot System

被引：0

作者：

Yang, Mao ^{[1
]}

Tian, Yantao ^{[1
]}

Yin, Xianghua ^{[1
]}

机构：

[1] Jilin Univ, JLU, Sch Commun & Engn, Changchun 130023, Peoples R China

来源：

PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOTS AND AGENTS | 2009年

关键词：

Continuous time swarm; velocity damping; multi-robot;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, an M-member continuous-time energetic swarm problem is studied. A new control strategy is developed for the multi-robot system which exist velocity damping. The control strategy has two separated layers. The lower layer is a distributed optimum control such that the swarm center can arrive at the goal which is given previously with the least time under present restrict. The upper layer is based on internal average kinetic energy. The proposed control algorithm can be used effectively for multi-robot coverage path planning problem. The proof of convergence is presented. Numerical simulations are given to illustrate the theoretic results.

引用

页码：290 / 295

页数：6

共 50 条

[21] Multi-robot, EKF-Based Visual SLAM System
Schmidt, Adam
COMPUTER VISION AND GRAPHICS, ICCVG 2014, 2014, 8671 : 562 - 569
[22] Development of an Internet-based multi-robot teleoperation system
Zheng, Wei
Wang, Yuechao
Xi, Ning
IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 329 - +
[23] OPTIMAL TRAJECTORY DESIGN FOR A DTOA BASED MULTI-ROBOT ANGLE OF ARRIVAL ESTIMATION SYSTEM FOR RESCUE OPERATIONS
Licea, Daniel Bonilla
McLernon, Des
Ghogho, Mounir
2014 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING (ICASSP), 2014,
[24] Risk Management System Based on Uncertainty Estimation by Multi-Robot
Kato, Daichi
Sekiyama, Kousuke
Fukuda, Toshio
JOURNAL OF ROBOTICS AND MECHATRONICS, 2010, 22 (04) : 456 - 466
[25] Multi-robot, EKF-based visual SLAM system
Schmidt, Adam
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2014, 8671 : 562 - 569
[26] Multi-Robot Task Allocation Based on Utility and Distributed Computing and Centralized Determination
Liu, Fei
Liang, Shan
Xian, Xiaodong
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2015, : 3259 - 3264
[27] A Distributed Algorithm for the Multi-Robot Task Allocation Problem
Giordani, Stefano
Lujak, Marin
Martinelli, Francesco
TRENDS IN APPLIED INTELLIGENT SYSTEMS, PT I, PROCEEDINGS, 2010, 6096 : 721 - +
[28] Multi-robot Exploration System in Unknown Environment Based on Submap
Zhang, Yinggang
Zhang, Yanduo
Li, Xun
2021 4TH INTERNATIONAL CONFERENCE ON ROBOTICS, CONTROL AND AUTOMATION ENGINEERING (RCAE 2021), 2021, : 256 - 260
[29] Group-Based Distributed Auction Algorithms for Multi-Robot Task Assignment
Bai, Xiaoshan
Fielbaum, Andres
Kronmuller, Maximilian
Knoedler, Luzia
Alonso-Mora, Javier
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2023, 20 (02) : 1292 - 1303
[30] DGORL: Distributed Graph Optimization Based Relative Localization of Multi-robot Systems
Latif, Ehsan
Parasuraman, Ramviyas
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS, DARS 2022, 2024, 28 : 243 - 256

← 1 2 3 4 5 →