Robust Formation Coordination of Robot Swarms with Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Date

2021-01-01

Author

Hu, Junyan
Turgut, Ali Emre
Lennox, Barry
Arvin, Farshad

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Coordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities can be formulated as a formation tracking problem. This brief aims to design a robust control strategy for networked robot swarms subjected to nonlinear dynamics and unknown disturbances. Firstly, a robust adaptive formation coordination protocol is proposed for robot swarms, which utilizes only local information for tracking a dynamic target with uncertain maneuvers. A rigorous theoretical proof utilizing the Lyapunov stability approach is then provided to guarantee the control performance. Towards the end, real-time hardware experiments with wheeled mobile robots are conducted to validate the robustness and feasibility of the proposed formation coordination approach.

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85104574678&origin=inward
https://hdl.handle.net/11511/90914

Journal

IEEE Transactions on Circuits and Systems II: Express Briefs

DOI

https://doi.org/10.1109/tcsii.2021.3074705

Collections

Department of Mechanical Engineering, Article

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Citation Formats

J. Hu, A. E. Turgut, B. Lennox, and F. Arvin, “Robust Formation Coordination of Robot Swarms with Nonlinear Dynamics and Unknown Disturbances: Design and Experiments,” IEEE Transactions on Circuits and Systems II: Express Briefs, pp. 0–0, 2021, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85104574678&origin=inward.