Entrapment/escorting and patrolling missions in multi-robot cluster space control

Authors:
Ignacio Mas;Steven Li;Jose Acain;Christopher Kitts
Affiliations:
Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA;Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA;Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA;Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 2

Theoretical Analysis of the Multi-agent Patrolling Problem

IAT '04 Proceedings of the IEEE/WIC/ACM International Conference on Intelligent Agent Technology
Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments

International Journal of Robotics Research
Error characterization in the vicinity of singularities in multi-robot cluster space control

ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Cluster space collision avoidance for mobile two-robot systems

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

Cluster space collision avoidance for mobile two-robot systems

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Coordinated sampling of dynamic oceanographic features with underwater vehicles and drifters

International Journal of Robotics Research

Quantified Score

Hi-index	0.00

Visualization

Abstract

The tasks of entrapping/escorting and patrolling around an autonomous target are presented making use of the multi-robot cluster space control approach. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems of limited size. Previous work has established the conceptual foundation of this approach and has experimentally verified and validated its use for 2-robot, 3-robot and 4-robot systems, with varying implementations ranging from automated trajectory control to human-in-the-loop piloting. In this publication, we show that the problem of entrapping/escorting/patrolling is trivial to define and manage from a cluster space perspective. Using a 3-robot experimental testbed, results are shown for the given tasks. We also revise the definition of the cluster space framework for a three-robot formation and incorporate a robot-level obstacle avoidance functionality.