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Scalable formation control in stealth with limited sensing range
Author(s) -
Yu Hongjun,
Shi Peng,
Lim ChengChew
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3579
Subject(s) - robot , scalability , protocol (science) , computer science , displacement (psychology) , control (management) , range (aeronautics) , control engineering , distributed computing , simulation , engineering , artificial intelligence , medicine , psychology , alternative medicine , pathology , database , psychotherapist , aerospace engineering
Summary In this paper, a protocol and a control law are designed for a single robot so that a team of such robots can interact and cooperate to reach the displacements from an eligible reference formation. Each robot is equipped with displacement sensors of limited sensing ranges. Communication channels are assumed to be unavailable to the team, and each robot works in stealth mode. The team is scalable such that new robots can be recruited, and existing robots can be dismissed. In order for the team size to be scalable, the extended formation based on relative displacement is established as the reference formation. Thus, using the extended formation as a reference, the control law and the protocol could be flexible. As potential conflicts deflect the robot team from the desired formation, the control law is designed to expose the conflicts to the involved neighboring robots such that the protocol can resolve them. A numerical example is given to illustrate how an extended formation is designed, and a simulation example is conducted to demonstrate the performance and merits of the proposed techniques. Copyright © 2016 John Wiley & Sons, Ltd.