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Abstract
Coordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities can be formulated as a formation tracking problem. This brief aims to design a robust control strategy for networked robot swarms subjected to nonlinear dynamics and unknown disturbances. Firstly, a robust adaptive formation coordination protocol is proposed for robot swarms, which utilizes only local information for tracking a dynamic target with uncertain maneuvers. A rigorous theoretical proof utilizing the Lyapunov stability approach is then provided to guarantee the control performance. Towards the end, real-time hardware experiments with wheeled mobile robots are conducted to validate the robustness and feasibility of the proposed formation coordination approach.
Original language | English |
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Pages (from-to) | 114-118 |
Number of pages | 5 |
Journal | IEEE Transactions on Circuits and Systems II: Express Briefs |
Volume | 69 |
Issue number | 1 |
DOIs | |
Publication status | Published - 21 Apr 2021 |
Keywords
- Collective behavior
- formation coordination
- mobile robots
- networked systems
- robust control
- swarm robotics
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Dive into the research topics of 'Robust Formation Coordination of Robot Swarms with Nonlinear Dynamics and Unknown Disturbances: Design and Experiments'. Together they form a unique fingerprint.Projects
- 1 Finished
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Robotics and Artificial Intelligence for Nuclear (RAIN)
Lennox, B. (PI), Arvin, F. (CoI), Brown, G. (CoI), Carrasco Gomez, J. (CoI), Da Via, C. (CoI), Furber, S. (CoI), Luján, M. (CoI), Watson, S. (CoI), Watts, S. (CoI) & Weightman, A. (CoI)
2/10/17 → 31/03/22
Project: Research