A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

Alexandre Santos Brandao; Felipe Nascimento Martins; Vinicius Thiago Lecco Rampinelli; Mario Sarcinelli-Filho; Teodiano Freire Bastos-Filho; Ricardo Carelli

doi:10.1109/ICMECH.2009.4957216

A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

Alexandre Santos Brandao, Felipe Nascimento Martins, Vinicius Thiago Lecco Rampinelli, Mario Sarcinelli-Filho, Teodiano Freire Bastos-Filho, Ricardo Carelli

Sensors and Smart Systems

Research output: Chapter in Book/Report/Conference proceeding › Contribution to conference proceeding › Academic › peer-review

Abstract

This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. © 2009 IEEE.

Original language	English
Title of host publication	2009 IEEE International Conference on Mechatronics
Pages	1-6
DOIs	https://doi.org/10.1109/ICMECH.2009.4957216
Publication status	Published - 2009

Keywords

robotics

Research Focus Areas Hanze University of Applied Sciences * (mandatory by Hanze)

Healthy Ageing

Research Focus Areas Research Centre or Centre of Expertise * (mandatory by Hanze)

Artificial Intelligence
Cyberfysical systems

Publinova themes

ICT and Media
Health
Technology

Access to Document

10.1109/ICMECH.2009.4957216

Cite this

@inproceedings{fc00830b5cb6405a9a89bb923d43d313,

title = "A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation",

abstract = "This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. {\textcopyright} 2009 IEEE.",

keywords = "robotics, robotica",

author = "Brandao, {Alexandre Santos} and Martins, {Felipe Nascimento} and Rampinelli, {Vinicius Thiago Lecco} and Mario Sarcinelli-Filho and Bastos-Filho, {Teodiano Freire} and Ricardo Carelli",

year = "2009",

doi = "10.1109/ICMECH.2009.4957216",

language = "English",

isbn = "9781424441952",

pages = "1--6",

booktitle = "2009 IEEE International Conference on Mechatronics",

}

A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation. / Brandao, Alexandre Santos; Martins, Felipe Nascimento; Rampinelli, Vinicius Thiago Lecco et al.
2009 IEEE International Conference on Mechatronics. 2009. p. 1-6.

Research output: Chapter in Book/Report/Conference proceeding › Contribution to conference proceeding › Academic › peer-review

TY - GEN

T1 - A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

AU - Brandao, Alexandre Santos

AU - Martins, Felipe Nascimento

AU - Rampinelli, Vinicius Thiago Lecco

AU - Sarcinelli-Filho, Mario

AU - Bastos-Filho, Teodiano Freire

AU - Carelli, Ricardo

PY - 2009

Y1 - 2009

N2 - This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. © 2009 IEEE.

AB - This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. © 2009 IEEE.

KW - robotics

KW - robotica

U2 - 10.1109/ICMECH.2009.4957216

DO - 10.1109/ICMECH.2009.4957216

M3 - Contribution to conference proceeding

SN - 9781424441952

SP - 1

EP - 6

BT - 2009 IEEE International Conference on Mechatronics

ER -

A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

Abstract

Keywords

Research Focus Areas Hanze University of Applied Sciences * (mandatory by Hanze)

Research Focus Areas Research Centre or Centre of Expertise * (mandatory by Hanze)

Publinova themes

Access to Document

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Cite this