Robust Formation Coordination of Robot Swarms with Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Junyan Hu, Ali Emre Turgut, Barry Lennox, Farshad Arvin

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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 languageEnglish
Pages (from-to)114-118
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Volume69
Issue number1
DOIs
Publication statusPublished - 21 Apr 2021

Keywords

  • Collective behavior
  • formation coordination
  • mobile robots
  • networked systems
  • robust control
  • swarm robotics

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