Formation maneuvering control of nonholonomic multi-agent systems

M. Khaledyan; M. De Queiroz

doi:10.1115/DSCC2016-9616

Formation maneuvering control of nonholonomic multi-agent systems

M. Khaledyan
, M. De Queiroz

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.

Original language	English
Title of host publication	Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791850701
DOIs	https://doi.org/10.1115/DSCC2016-9616
State	Published - 2016
Externally published	Yes
Event	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States Duration: Oct 12 2016 → Oct 14 2016

Publication series

Name	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Volume	2

Conference

Conference	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Country/Territory	United States
City	Minneapolis
Period	10/12/16 → 10/14/16

Access to Document

10.1115/DSCC2016-9616

Cite this

Khaledyan, M., & De Queiroz, M. (2016). Formation maneuvering control of nonholonomic multi-agent systems. In Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2016-9616

Khaledyan, M. ; De Queiroz, M. / Formation maneuvering control of nonholonomic multi-agent systems. Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers, 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016).

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title = "Formation maneuvering control of nonholonomic multi-agent systems",

abstract = "In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.",

author = "M. Khaledyan and \{De Queiroz\}, M.",

note = "Publisher Copyright: Copyright {\textcopyright} 2016 by ASME.; ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 ; Conference date: 12-10-2016 Through 14-10-2016",

year = "2016",

doi = "10.1115/DSCC2016-9616",

language = "English",

series = "ASME 2016 Dynamic Systems and Control Conference, DSCC 2016",

publisher = "American Society of Mechanical Engineers",

booktitle = "Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control",

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Khaledyan, M & De Queiroz, M 2016, Formation maneuvering control of nonholonomic multi-agent systems. in Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, vol. 2, American Society of Mechanical Engineers, ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, Minneapolis, United States, 10/12/16. https://doi.org/10.1115/DSCC2016-9616

Formation maneuvering control of nonholonomic multi-agent systems. / Khaledyan, M.; De Queiroz, M.
Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers, 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Formation maneuvering control of nonholonomic multi-agent systems

AU - Khaledyan, M.

AU - De Queiroz, M.

PY - 2016

Y1 - 2016

N2 - In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.

AB - In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.

UR - https://www.scopus.com/pages/publications/85015654852

U2 - 10.1115/DSCC2016-9616

DO - 10.1115/DSCC2016-9616

M3 - Conference contribution

AN - SCOPUS:85015654852

T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016

BT - Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control

PB - American Society of Mechanical Engineers

T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016

Y2 - 12 October 2016 through 14 October 2016

ER -

Khaledyan M, De Queiroz M. Formation maneuvering control of nonholonomic multi-agent systems. In Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers. 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016). doi: 10.1115/DSCC2016-9616

Formation maneuvering control of nonholonomic multi-agent systems

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