A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach
International Journal of Robotics Research
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators
IEEE Transactions on Robotics
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Convex Optimization Strategies for Coordinating Large-Scale Robot Formations
IEEE Transactions on Robotics
Position synchronization of multiple motion axes with adaptive coupling control
Automatica (Journal of IFAC)
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Networked architecture for multi-robot task reallocation in dynamic environment
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Nonlinear control and synchronization with time delays of multiagent robotic systems
Journal of Control Science and Engineering
Resource constrained multirobot task allocation based on leader-follower coalition methodology
International Journal of Robotics Research
Automatic transportation of biological cells with a robot-tweezer manipulation system
International Journal of Robotics Research
On consensus algorithms of multiple uncertain mechanical systems with a reference trajectory
Automatica (Journal of IFAC)
Neural network adaptive control for cooperative path-following of marine surface vessels
ISNN'12 Proceedings of the 9th international conference on Advances in Neural Networks - Volume Part II
Multilevel-based topology design and shape control of robot swarms
Automatica (Journal of IFAC)
Synchronous control for trajectory tracking in networked multi-agent systems
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
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In this paper, we present a synchronization approach to trajectory tracking of multiple mobile robots while maintaining time-varying formations. The main idea is to control each robot to track its desired trajectory while synchronizing its motion with those of other robots to keep relative kinematics relationships, as required by the formation. First, we pose the formation-control problem as a synchronization control problem and identify the synchronization control goal according to the formation requirement. The formation error is measured by the position synchronization error, which is defined based on the established robot network. Second, we develop a synchronous controller for each robot's translation to guarantee that both position and synchronization errors approach zero asymptotically. The rotary controller is also designed to ensure that the robot is always oriented toward its desired position. Both translational and rotary controls are supported by a centralized high-level planer for task monitoring and robot global localization. Finally, we perform simulations and experiments to demonstrate the effectiveness of the proposed synchronization control approach in the formation control tasks.