Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

Autores
Mas, Ignacio Agustin; Kitts, Christopher
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed.
Fil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Kitts, Christopher. Santa Clara University; Estados Unidos
Materia
Multirobot systems
Dynamic control
Formation control
Marine robotics
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/35334
Acceder
id CONICETDig_e99fd3b4b0a6512d21b17a9a1983d3ee
oai_identifier_str oai:ri.conicet.gov.ar:11336/35334
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Dynamic Control of Mobile Multirobot Systems: The Cluster Space FormulationMas, Ignacio AgustinKitts, ChristopherMultirobot systemsDynamic controlFormation controlMarine roboticshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed.Fil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Kitts, Christopher. Santa Clara University; Estados UnidosInstitute of Electrical and Electronics Engineers2014-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/35334Mas, Ignacio Agustin; Kitts, Christopher ; Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation; Institute of Electrical and Electronics Engineers; IEEE Access; 2; 5-2014; 558-5702169-3536CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1109/ACCESS.2014.2325742info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/6818372/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T14:39:51Zoai:ri.conicet.gov.ar:11336/35334instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 14:39:52.007CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
title Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
spellingShingle Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
Mas, Ignacio Agustin
Multirobot systems
Dynamic control
Formation control
Marine robotics
title_short Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
title_full Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
title_fullStr Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
title_full_unstemmed Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
title_sort Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation
dc.creator.none.fl_str_mv Mas, Ignacio Agustin
Kitts, Christopher
author Mas, Ignacio Agustin
author_facet Mas, Ignacio Agustin
Kitts, Christopher
author_role author
author2 Kitts, Christopher
author2_role author
dc.subject.none.fl_str_mv Multirobot systems
Dynamic control
Formation control
Marine robotics
topic Multirobot systems
Dynamic control
Formation control
Marine robotics
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed.
Fil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Kitts, Christopher. Santa Clara University; Estados Unidos
description The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed.
publishDate 2014
dc.date.none.fl_str_mv 2014-05
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/35334
Mas, Ignacio Agustin; Kitts, Christopher ; Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation; Institute of Electrical and Electronics Engineers; IEEE Access; 2; 5-2014; 558-570
2169-3536
CONICET Digital
CONICET
url http://hdl.handle.net/11336/35334
identifier_str_mv Mas, Ignacio Agustin; Kitts, Christopher ; Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation; Institute of Electrical and Electronics Engineers; IEEE Access; 2; 5-2014; 558-570
2169-3536
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/ACCESS.2014.2325742
info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/6818372/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846082886657114112
score 13.22299

Publicaciones similares