Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance

Kefan Wu; Junyan Hu; Barry Lennox; Farshad Arvin

doi:10.1109/TCSII.2021.3066555

Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance

Kefan Wu, Junyan Hu, Barry Lennox, Farshad Arvin

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

17 Downloads (Pure)

Abstract

This brief proposes a bearing-only collision-free
formation coordination strategy for networked heterogeneous
robots, where each robot only measures the relative bearings of its
neighbors to achieve cooperation. Different from many existing
studies that can only guarantee global asymptotic stability (i.e.,
the formation can only be formed over an infinite settling period),
a gradient-descent control protocol is designed to make the robots
achieve a target formation within a given finite time. The stability
of the multi-robot system is guaranteed via Lyapunov theory, and
the convergence time can be defined by users. Moreover, we also
present sufficient conditions for collision avoidance. Finally, a
simulation case study is provided to verify the effectiveness of
the proposed approach.

Original language	English
Pages (from-to)	3316-3320
Number of pages	5
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
Volume	68
Issue number	10
DOIs	https://doi.org/10.1109/TCSII.2021.3066555
Publication status	Published - 17 Mar 2021

Keywords

Autonomous systems
bearing-only measurements, collision avoidance
mobile robots
multi-agent formation

Access to Document

10.1109/TCSII.2021.3066555

Robotics and Artificial Intelligence for Nuclear (RAIN)
Lennox, B., Arvin, F., Brown, G., Carrasco Gomez, J., Da Via, C., Furber, S., Luján, M., Watson, S., Watts, S. & Weightman, A.
2/10/17 → 31/03/22
Project: Research

Cite this

@article{abe65f5aecb4440dbef209b338d270e8,

title = "Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance",

abstract = "This brief proposes a bearing-only collision-freeformation coordination strategy for networked heterogeneousrobots, where each robot only measures the relative bearings of itsneighbors to achieve cooperation. Different from many existingstudies that can only guarantee global asymptotic stability (i.e.,the formation can only be formed over an infinite settling period),a gradient-descent control protocol is designed to make the robotsachieve a target formation within a given finite time. The stabilityof the multi-robot system is guaranteed via Lyapunov theory, andthe convergence time can be defined by users. Moreover, we alsopresent sufficient conditions for collision avoidance. Finally, asimulation case study is provided to verify the effectiveness ofthe proposed approach.",

keywords = "Autonomous systems, bearing-only measurements, collision avoidance, mobile robots, multi-agent formation",

author = "Kefan Wu and Junyan Hu and Barry Lennox and Farshad Arvin",

note = "Funding Information: Manuscript received February 26, 2021; accepted March 14, 2021. Date of publication March 17, 2021; date of current version September 24, 2021. This work was supported in part by the Engineering and Physical Sciences Research Council under Grant EP/R026084/1 and Grant EP/P01366X/1, and in part by the EU Horizon-2020 under Grant 899520. This brief was recommended by Associate Editor S. Li. (Corresponding author: Junyan Hu.) The authors are with the Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K. (e-mail: junyan.hu@manchester.ac.uk; farshad.arvin@manchester.ac.uk). Publisher Copyright: {\textcopyright} 2021 IEEE.",

year = "2021",

month = mar,

day = "17",

doi = "10.1109/TCSII.2021.3066555",

language = "English",

volume = "68",

pages = "3316--3320",

journal = "IEEE Transactions on Circuits and Systems. Part 2: Express Briefs",

issn = "1549-7747",

publisher = "IEEE",

number = "10",

}

TY - JOUR

T1 - Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance

AU - Wu, Kefan

AU - Hu, Junyan

AU - Lennox, Barry

AU - Arvin, Farshad

N1 - Funding Information: Manuscript received February 26, 2021; accepted March 14, 2021. Date of publication March 17, 2021; date of current version September 24, 2021. This work was supported in part by the Engineering and Physical Sciences Research Council under Grant EP/R026084/1 and Grant EP/P01366X/1, and in part by the EU Horizon-2020 under Grant 899520. This brief was recommended by Associate Editor S. Li. (Corresponding author: Junyan Hu.) The authors are with the Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K. (e-mail: junyan.hu@manchester.ac.uk; farshad.arvin@manchester.ac.uk). Publisher Copyright: © 2021 IEEE.

PY - 2021/3/17

Y1 - 2021/3/17

N2 - This brief proposes a bearing-only collision-freeformation coordination strategy for networked heterogeneousrobots, where each robot only measures the relative bearings of itsneighbors to achieve cooperation. Different from many existingstudies that can only guarantee global asymptotic stability (i.e.,the formation can only be formed over an infinite settling period),a gradient-descent control protocol is designed to make the robotsachieve a target formation within a given finite time. The stabilityof the multi-robot system is guaranteed via Lyapunov theory, andthe convergence time can be defined by users. Moreover, we alsopresent sufficient conditions for collision avoidance. Finally, asimulation case study is provided to verify the effectiveness ofthe proposed approach.

AB - This brief proposes a bearing-only collision-freeformation coordination strategy for networked heterogeneousrobots, where each robot only measures the relative bearings of itsneighbors to achieve cooperation. Different from many existingstudies that can only guarantee global asymptotic stability (i.e.,the formation can only be formed over an infinite settling period),a gradient-descent control protocol is designed to make the robotsachieve a target formation within a given finite time. The stabilityof the multi-robot system is guaranteed via Lyapunov theory, andthe convergence time can be defined by users. Moreover, we alsopresent sufficient conditions for collision avoidance. Finally, asimulation case study is provided to verify the effectiveness ofthe proposed approach.

KW - Autonomous systems

KW - bearing-only measurements, collision avoidance

KW - mobile robots

KW - multi-agent formation

U2 - 10.1109/TCSII.2021.3066555

DO - 10.1109/TCSII.2021.3066555

M3 - Article

VL - 68

SP - 3316

EP - 3320

JO - IEEE Transactions on Circuits and Systems. Part 2: Express Briefs

JF - IEEE Transactions on Circuits and Systems. Part 2: Express Briefs

SN - 1549-7747

IS - 10

ER -

Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance

Abstract

Keywords

Access to Document

Fingerprint

Projects

Robotics and Artificial Intelligence for Nuclear (RAIN)

Cite this