Dynamics-based control of robotic swarms

In this work we consider methods for dynamics-based control of swarms of cooperating differentially-driven mobile robots. The techniques developed enable the use of methods from redundant manipulator control and show a marked improvement over equivalent kinematics-based techniques for both homogeneous and heterogeneous swarms

[1]  Wei Wei,et al.  A New Multi-Robot Self-Determination Cooperation Method Based on Immune Agent Network , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[2]  Tucker R. Balch,et al.  Communication in reactive multiagent robotic systems , 1995, Auton. Robots.

[3]  Gianluca Antonelli,et al.  Fault tolerant kinematic control of platoons of autonomous vehicles , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[4]  Rodney Teo,et al.  Decentralized overlapping control of a formation of unmanned aerial vehicles , 2004, Autom..

[5]  B. E. Bishop.  On the use of redundant manipulator techniques for control of platoons of cooperating robotic vehicles , 2003, IEEE Trans. Syst. Man Cybern. Part A.

[6]  Xiaoping Yun,et al.  Line and circle formation of distributed physical mobile robots , 1997, J. Field Robotics.

[7]  Fumin Zhang,et al.  Control of small formations using shape coordinates , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[8]  Kevin M. Passino,et al.  Stability analysis of swarms , 2003, IEEE Trans. Autom. Control..

[9]  Enrico Pagello,et al.  Making Collective Behaviours to work through Implicit Communication , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[10]  Naomi Ehrich Leonard,et al.  Virtual leaders, artificial potentials and coordinated control of groups , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[11]  Bradley E. Bishop.  Control of Platoons of Nonholonomic Vehicles Using Redundant Manipulator Analogs , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[12]  Elzbieta Roszkowska.  Provably Correct Closed-Loop Control for Multiple Mobile Robot Systems , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[13]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[14]  Calin Belta,et al.  Abstraction and control for Groups of robots , 2004, IEEE Transactions on Robotics.

[15]  Hee-Jun Kang,et al.  Joint torque optimization of redundant manipulators via the null space damping method , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[16]  Daniel J. Stilwell,et al.  Platoons of underwater vehicles , 2000 .

[17]  Bradley E. Bishop,et al.  Design and Control of Platoons of Cooperating Autonomous Surface Vessels * , 2004 .

[18]  Seul Jung,et al.  Collision avoidance and control of a mobile robot using a hybrid force control algorithm , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[19]  John S. Bay,et al.  Optimal control for cooperating mobile robots bearing a common load , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.