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https://hdl.handle.net/123456789/989| Τύπος: | Άρθρο σε επιστημονικό περιοδικό |
| Τίτλος: | Coordination of multiple robotic vehicles in obstacle-cluttered environments |
| Συγγραφέας: | [EL] Μπεχλιούλης, Χαράλαμπος[EN] Bechlioulis, Charalampos [EL] Βλαντής, Παναγιώτης[EN] Vlantis, Panagiotis [EL] Κυριακόπουλος, Κωνσταντίνος[EN] Kyriakopoulos, Kostas |
| Ημερομηνία: | 22/05/2021 |
| Περίληψη: | In this work, we consider the motion control problem for a platoon of unicycle robots operating within an obstacle-cluttered workspace. Each robot is equipped with a proximity sensor that allows it to perceive nearby obstacles as well as a camera to obtain its relative position with respect to its preceding robot. Additionally, no robot other than the leader of the team is able to localize itself within the workspace and no centralized communication network exists, i.e., explicit information exchange between the agents is unavailable. To tackle this problem, we adopt a leader–follower architecture and propose a novel, decentralized control law for each robot-follower, based on the Prescribed Performance Control method, which guarantees collision-free tracking and visual connectivity maintenance by ensuring that each follower maintains its predecessor within its camera field of view while keeping static obstacles out of the line of sight for all time. Finally, we verify the efficacy of the proposed control scheme through extensive simulations. |
| Γλώσσα: | Αγγλικά |
| Σελίδες: | 23 |
| DOI: | 10.3390/robotics10020075 |
| EISSN: | 2218-6581 |
| Θεματική κατηγορία: | [EL] Ρομποτική[EN] Robotics |
| Λέξεις-κλειδιά: | Multi-agent Systems; formation control; robotics |
| Κάτοχος πνευματικών δικαιωμάτων: | © 2021 by the authors. Licensee MDPI, Basel, Switzerland. |
| Όροι και προϋποθέσεις δικαιωμάτων: | This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). |
| Ηλεκτρονική διεύθυνση του τεκμηρίου στον εκδότη: | https://www.mdpi.com/2218-6581/10/2/75 |
| Ηλεκτρονική διεύθυνση περιοδικού: | https://www.mdpi.com/journal/robotics |
| Τίτλος πηγής δημοσίευσης: | Robotics |
| Τεύχος: | 2 |
| Τόμος: | 10 |
| Σελίδες τεκμηρίου (στην πηγή): | Article no 75 |
| Σημειώσεις: | This article belongs to the Special Issue Multi-Robot Systems: From Theoretical Contributions to Practical Applications This work was carried out/funded in the context of the project “Coordination of Multiple Robotic Vehicles in Obstacle-Cluttered Environments” (MIS 5049094) under the call for proposals “Researchers’ support with an emphasis on young researchers—2nd Cycle”. The project is co-financed by Greece and the European Union (European Social Fund—ESF) by the Operational Programme Human Resources Development, Education and Lifelong Learning 2014–2020 |
| Εμφανίζεται στις συλλογές: | Ερευνητικές ομάδες |
Αρχεία σε αυτό το τεκμήριο:
| Αρχείο | Περιγραφή | Σελίδες | Μέγεθος | Μορφότυπος | Έκδοση | Άδεια | |
|---|---|---|---|---|---|---|---|
| robotics-10-00075-v3 (1).pdf | 4.91 MB | Adobe PDF | - |  | Δείτε/ανοίξτε |