Please use this identifier to cite or link to this item:
|Title:||Perception-Driven Multi-Robot Formation Control|
António Paulo Moreira
|Abstract:||Maximizing the performance of cooperative perception of a tracked target by a team of mobile robots while maintaining the team's formation is the core problem addressed in this work. We propose a solution by integrating the controller and the estimator modules in a formation control loop. The controller module is a distributed non-linear model predictive controller and the estimator module is based on a particle filter for cooperative target tracking. A formal description of the integration followed by simulation and real robot results on two different teams of homogeneous robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target's cooperative estimate while complying with the performance criteria such as keeping a pre-set distance between the team-mates and/or the target and obstacle avoidance.|
|Appears in Collections:||CRIIS - Other Publications|
Files in This Item:
|841.79 kB||Adobe PDF||View/Open Request a copy|
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.