TY - GEN

T1 - Decentralized Control for Communication-Free Cooperative Circumnavigation of Unpredictably Maneuvering Complex Objects

AU - Matveev, Alexey S.

AU - Magerkin, Valentin V.

N1 - A. S. Matveev and V. V. Magerkin, "Decentralized Control for Communication-Free Cooperative Circumnavigation of Unpredictably Maneuvering Complex Objects*," 2019 8th International Conference on Systems and Control (ICSC), Marrakesh, Morocco, 2019, pp. 252-257, doi: 10.1109/ICSC47195.2019.8950562.

PY - 2020/1/9

Y1 - 2020/1/9

N2 - 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.

AB - 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.

KW - collision avoidance

KW - decentralised control

KW - mobile robots

KW - multi-robot systems

KW - navigation

UR - http://www.scopus.com/inward/record.url?scp=85078861650&partnerID=8YFLogxK

U2 - 10.1109/ICSC47195.2019.8950562

DO - 10.1109/ICSC47195.2019.8950562

M3 - Conference contribution

SN - 9781728119397

T3 - International Conference on Systems and Control

SP - 252

EP - 257

BT - 8th International Conference on Systems and Control (ICSC)

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th International Conference on Systems and Control (ICSC)

Y2 - 23 October 2019 through 25 October 2019

ER -