A discrete grid abstraction for formation control in the presence of obstacles

Authors:
Damjan Miklic;Stjepan Bogdan;Rafael Fierro;Sanjin Nestic
Affiliations:
Electrical and Computer Engineering Department, University of New Mexico, Albuquerque, NM;Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia;MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM;Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 0

Robotics: Science and Systems I

Robotics: Science and Systems I
Manufacturing Systems Control Design: A Matrix-based Approach (Advances in Industrial Control)

Manufacturing Systems Control Design: A Matrix-based Approach (Advances in Industrial Control)
Abstraction and control for Groups of robots

IEEE Transactions on Robotics
A feedback stabilization and collision avoidance scheme for multiple independent non-point agents

Automatica (Journal of IFAC)

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Abstract

In this paper we present a formation reconfiguration methodology designed for controlling groups of autonomous agents in environments densely populated with obstacles. Our approach is based on abstracting the group of agents by a discrete rectangular grid. Agent and obstacle positions are mapped onto the formation grid. Then, collision free formation transition trajectories are computed using discrete event scheduling techniques that have been well-established in the manufacturing systems domain. The main contribution of this paper is a unified formation control framework that explicitly takes obstacles into account. Using discrete event system analysis tools we show that our approach guarantees convergence to the desired formation while avoiding obstacles and inter-agent collisions.