Decentralized Control for Communication-Free Cooperative Circumnavigation of Unpredictably Maneuvering Complex Objects

Результат исследований: Публикации в книгах, отчётах, сборниках, трудах конференцийстатья в сборнике материалов конференции

Аннотация

Each of several planar mobile robots is driven by the acceleration vector, upper-limited in magnitude, obeys a given speed upper bound, has no communication facilities, and cannot distinguish between the peers. There is an unpredictably moving and deforming simple closed curve in the plane, e.g., the locus of points at a desired distance from the edges of a single 2D or 1D or point-wise targeted object or at a desired mean distance from a group of such objects. In its local frame, every robot “sees” the objects within a finite range of “visibility”, has access to its own velocity, and is also able to determine the nearest point on the curve. The robots should autonomously reach the curve, subsequently track it, and achieve an effective self-distribution over it. We first establish necessary conditions for the solvability of this mission. Then we propose a new navigation law and show that it does solve the mission under slight and partly unavoidable enhancement of those conditions, while excluding inter-robot collisions. For steady curves, this law also ensures an even self-distribution of the robots and a pre-specified speed of their motion over the curve. These traits are justified via rigorous global convergence results and are confirmed via computer simulation tests.
Язык оригиналаанглийский
Название основной публикацииProceedings of the 8th International Conference on Systems and Control
ИздательInstitute of Electrical and Electronics Engineers Inc.
Страницы252-257
Число страниц6
ISBN (электронное издание)9781728119380
ISBN (печатное издание)9781728119397
DOI
СостояниеОпубликовано - 9 янв 2020
Событие8th International Conference on Systems and Control (ICSC) - Marrakech, Морокко
Продолжительность: 23 окт 201925 окт 2019

Серия публикаций

НазваниеInternational Conference on Systems and Control
ISSN (печатное издание)2379-0059
ISSN (электронное издание)2379-0067

Конференция

Конференция8th International Conference on Systems and Control (ICSC)
Сокращенный заголовокICSC 2019
СтранаМорокко
ГородMarrakech
Период23/10/1925/10/19

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Matveev, A. S., & Magerkin, V. V. (2020). Decentralized Control for Communication-Free Cooperative Circumnavigation of Unpredictably Maneuvering Complex Objects. В Proceedings of the 8th International Conference on Systems and Control (стр. 252-257). [8950562] (International Conference on Systems and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSC47195.2019.8950562, https://doi.org/10.1109/ICSC47195.2019.8950562