Abstract
Abstract—In this paper, a decentralized formation control isproposed which enables collision free coordination and navigationof agents. We present a simple method to define the formationof multi-agents and individual identities (IDs) of agents. Two decentralizedcoordination and navigation techniques are proposedfor the formation of rovers. Agents decide their own behaviorsonboard depending upon the motion initiative of the master agentof the formation. In these approaches, any agent can estimatebehavior of other agents in the formation. These will reduce thedependency of individual agent on other agents while takingdecisions. These approaches reduce the communication burdenon the formation where only the master agent broadcasts itsmotion status per sampled time. Any front agent can act as amaster agent without affecting the formation in case of fault ininitial master agent. The main idea of this paper is to developan adequate computational model under which agents in theformation will perform to coordinate among each other. Assignmentsof IDs to agents are very useful in real-time applications.These proposed schemes are suitable for obstacle avoidance inunknown environment as a whole formation. Agents are free fromcollision among each other during navigation. These schemes canbe used for velocity as well as orientation alignment problemsfor a multi-agent rover network. These schemes are tested withextensive simulations and responses of agents show satisfactoryperformances to deal with different environmental conditions.
| Original language | English |
|---|---|
| Pages (from-to) | 369-381 |
| Journal | IEEE Systems Journal |
| Volume | 3 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published (in print/issue) - Sept 2009 |
Bibliographical note
Reference text: [1] J. Y. Tigli and M. C. Thomas, “Use of multi agent systems for mobilerobotics control,” in Proc. IEEE Int. Conf. Systems, Man, Cybernetics,
San Antonio, TX, Oct. 1994, vol. 1, pp. 588–592.
[2] T. Eren, N. Belhumeur, B. D. O. Anderson, and A. S. Morse, “A
framwork for maintaining formations based on rigidity,” in Proc. 15th
IFAC World Congr. Automatic Control, Barcelona, Spain, Jul. 2002,
pp. 2752–2757.
[3] S. Carpin and L. Parker, “Cooperative leader following in a distribute
multi-robot system,” in Proc. IEEE Int. Conf. Robotics and Automation,
2002, pp. 2994–3001.
[4] J. P. Desai, “A graph theoretic approach for modeling mobile robot
team formation,” J. Robot. Syst., vol. 19, no. 11, pp. 511–525, 2002.
[5] J. Fredslund and M. J. Mataric, “A general algorithm for robot formations
using local sensing and minimal communication,” IEEE Trans.
Robot. Autom., vol. 18, no. 5, pp. 837–846, Oct. 2002.
[6] M. Lemay, F. Michaud, D. Látourneau, and J. M. Valin, “Autonomous
initialization of robot formations,” in Proc. IEEE Int. Conf. Robotics
and Automation (ICRA-2004), 2004, vol. 3, pp. 3018–3023.
[7] K. Sugihara and I. Suzuki, “Distributed motion coordination of multiple
mobile robots,” in Proc. IEEE Int. Symp. Intelligent Control,
Philadelphia, PA, 1990, vol. 1, pp. 138–143.
[8] V. Gazi, “Swarm aggregations using artificial potentials and slidingmode
control,” IEEE Trans. Robotics, vol. 21, no. 6, pp. 1208–1214,
Dec. 2005.
[9] T. Nishi, M. Ando, and M. Konishi, “Distributed route planning for
multiple mobile robots using an augmented lagrangian decomposition
and coordination technique,” IEEE Trans. Robotics, vol. 21, no. 6, pp.
1191–1200, Dec. 2005.
[10] S. Svestka and M. H. Overmars, “Coordinated path planning for multiple
robots,” Robot Auton. Syst., vol. 23, no. 3, pp. 125–152, 1998.
[11] S. Akella and S. Hutchinson, “Coordinating the motions of multiple
robots with specified trajectories,” in Proc. IEEE Int. Conf. Robot
Autom., 2002, pp. 624–631.
[12] M. Dorigo, V. Maniezzo, and A. Colorni, “Ant system: Optimization
by a colony of cooperating agents,” IEEE Trans. Syst., Man, Cybern.
B; Cybern., vol. 26, no. 1, pp. 1–13, Jan. 1996.
[13] R. Zlot, A. Strenz, M. B. Dias, and S. Thayer, “Multi-robot exploration
controlled by a market economy,” in Proc. IEEE Int. Conf. Robotics and
Automation, 2002, pp. 3016–3023.
[14] J. Peng and S. Akella, “Coordinating multiple robots with kynodynamic
constraints along specified paths,” Int. J. Robot. Res., vol. 24,
no. 4, pp. 295–310, 2005.
[15] M. Cao, A. S. Morse, and B. D. O. Anderson, “Coordination of an
asynchronous multi-agent system via averaging,” in Proc. 16th IFAC
World Congr., Prague, Czech Republic, Jul. 2005.
[16] M. M. Zavlanos and G. J. Pappas, “Dynamic assignment in distributed
motion planning with local coordination,” IEEE Trans. Robotics, vol.
24, no. 1, pp. 232–242, Feb. 2008.
[17] W. Burgard, M. Moors, C. Stachniss, and F. Schneider, “Coordinated
multi-robot exploration,” IEEE Trans. Robotics, vol. 21, no. 3, pp.
376–386, Jun. 2005.
[18] P. Tabuada, J. Pappas, and P. Lima, “Motion feasibility of multi-agent
formations,” IEEE Trans. Robotics, vol. 21, no. 3, pp. 387–392, Jun.
2005.
[19] W. Ren and R. W. Beard, “Consensus seeking in multiagent systems
under dynamically changing interaction topologies,” IEEE Trans.
Autom. Control, vol. 50, no. 5, pp. 655–661, May 2005.
[20] W. Ren and Y. Cao, “Simulation and experimental study of consensus
algorithms for multiple mobile robots with information feedback,” Intell.
Autom. and Soft Comput., vol. 14, no. 1, pp. 73–87, 2008.
[21] W. Ren, R. W. Beard, and T. W. McLain, “Coordination variables and
consensus building in multiple vehicle systems,” in Cooperative Control,
Lecture Notes in Control and Information Sciences. Berlin, Germany:
Springer-Verlag, 2005, vol. 309, pp. 171–188.
[22] A. K. Ray, L. Behera, and M. Jamshidi, “Sonar-based rover navigation
for single or multiple platforms: Forward safe path and target switching
approach,” IEEE Syst. J., vol. 2, no. 2, pp. 258–272, Jun. 2008.
Keywords
- Mobile robot navigation
- multi-agent formation
- path planning
- robotic swarm
- system of systems.