Cooperative decentralized reactive circumnavigation of unpredictably moving and deforming speedy extended objects

Standard

Cooperative decentralized reactive circumnavigation of unpredictably moving and deforming speedy extended objects. / Matveev, A.; Magerkin, V.

In: IFAC-PapersOnLine, Vol. 53, No. 2, 2020, p. 9379-9384.

Research output: Contribution to journal › Conference article

BibTeX

@article{b687e940c59645efb845e2dc2ef08e92,

title = "Cooperative decentralized reactive circumnavigation of unpredictably moving and deforming speedy extended objects",

abstract = "A team of speed- and acceleration-limited robots travel in a plane that hosts an unpredictably moving and deforming extended targeted object. In its local frame, every robot has access to its own velocity and is able to identify the relative coordinates of the objects within a given finite visibility range, as well as the nearest point of the object. A sliding mode communication-free sensor-based strategy is presented that drives the robots to a desired distance from the targeted object and ensures its subsequent circumnavigation with maintaining this distance and effective self-distribution around the object. The proposed control law individually operates at any robot and is reactive, i.e., it directly converts the current sensory data into the current control in a reflex-like fashion. The performance of the proposed navigation law is rigorously justified by a global convergence result and is confirmed via computer simulation tests.",

keywords = "Mobile robots, Circumnavigation, Nonlinear control, Sensor-based navigation",

author = "A. Matveev and V. Magerkin",

year = "2020",

language = "English",

volume = "53",

pages = "9379--9384",

journal = "IFAC-PapersOnLine",

issn = "2405-8971",

publisher = "Elsevier",

number = "2",

note = "21th IFAC World Congress ; Conference date: 12-07-2020 Through 17-07-2020",

}

RIS

TY - JOUR

T1 - Cooperative decentralized reactive circumnavigation of unpredictably moving and deforming speedy extended objects

AU - Matveev, A.

AU - Magerkin, V.

PY - 2020

Y1 - 2020

N2 - A team of speed- and acceleration-limited robots travel in a plane that hosts an unpredictably moving and deforming extended targeted object. In its local frame, every robot has access to its own velocity and is able to identify the relative coordinates of the objects within a given finite visibility range, as well as the nearest point of the object. A sliding mode communication-free sensor-based strategy is presented that drives the robots to a desired distance from the targeted object and ensures its subsequent circumnavigation with maintaining this distance and effective self-distribution around the object. The proposed control law individually operates at any robot and is reactive, i.e., it directly converts the current sensory data into the current control in a reflex-like fashion. The performance of the proposed navigation law is rigorously justified by a global convergence result and is confirmed via computer simulation tests.

AB - A team of speed- and acceleration-limited robots travel in a plane that hosts an unpredictably moving and deforming extended targeted object. In its local frame, every robot has access to its own velocity and is able to identify the relative coordinates of the objects within a given finite visibility range, as well as the nearest point of the object. A sliding mode communication-free sensor-based strategy is presented that drives the robots to a desired distance from the targeted object and ensures its subsequent circumnavigation with maintaining this distance and effective self-distribution around the object. The proposed control law individually operates at any robot and is reactive, i.e., it directly converts the current sensory data into the current control in a reflex-like fashion. The performance of the proposed navigation law is rigorously justified by a global convergence result and is confirmed via computer simulation tests.

KW - Mobile robots

KW - Circumnavigation

KW - Nonlinear control

KW - Sensor-based navigation

UR - https://www.sciencedirect.com/science/article/pii/S2405896320328664

M3 - Conference article

VL - 53

SP - 9379

EP - 9384

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8971

IS - 2

T2 - 21th IFAC World Congress

Y2 - 12 July 2020 through 17 July 2020

ER -

ID: 76933651