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

Antonio Franchi; Paolo Stegagno; Giuseppe Oriolo

doi:10.1007/s10514-015-9450-3

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

Antonio Franchi^*, Paolo Stegagno, Giuseppe Oriolo

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

63 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	245-265
Number of pages	21
Journal	Autonomous Robots
Volume	40
Issue number	2
DOIs	https://doi.org/10.1007/s10514-015-9450-3
Publication status	Published - 1 Feb 2016
Externally published	Yes

Keywords

Distributed robot systems
Encirclement
Entrapment
Escorting
Motion control
Multi-robot decentralized control

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10.1007/s10514-015-9450-3

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abstract = "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.",

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AU - Oriolo, Giuseppe

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AB - 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.

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KW - Encirclement

KW - Entrapment

KW - Escorting

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ER -

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

Abstract

Keywords

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