Unifying geometric approach to real-time formation control

2008 ◽  
Author(s):  
D.H.A. Maithripala ◽  
D.H.S. Maithripala ◽  
S. Jayasuriya
Keyword(s):  
Real Time ◽  
Formation Control ◽  
Geometric Approach

A Geometric Approach to Dynamically Feasible, Real-Time Formation Control

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
D. H. A. Maithripala ◽  
D. H. S. Maithripala ◽  
S. Jayasuriya
Keyword(s):  
Real Time ◽  
Wide Class ◽  
Formation Control ◽  
Geometric Approach ◽  
Control Problems ◽  
Multi Agent Systems ◽  
Individual Agent ◽  
Planning Algorithm ◽  
Explicit Consideration ◽  
Multi Agent

We propose a framework for synthesizing real-time trajectories for a wide class of coordinating multi-agent systems. The class of problems considered is characterized by the ability to decompose a given formation objective into an equivalent set of lower dimensional problems. These include the so called radar deception problem and the formation control problems that fall under formation keeping and/or formation reconfiguration tasks. The decomposition makes the approach scalable, computationally economical, and decentralized. Most importantly, the designed trajectories are dynamically feasible, meaning that they maintain the formation while satisfying the nonholonomic and saturation type velocity and acceleration constraints of each individual agent. The main contributions of this paper are (i) explicit consideration of second order dynamics for agents, (ii) explicit consideration of nonholonomic and saturation type velocity and acceleration constraints, (iii) unification of a wide class of formation control problems, and (iv) development of a real-time, distributed, scalable, computationally economical motion planning algorithm.

scholarly journals Real-time event-based formation control of a group of VTOL-UAVs

2017 ◽  
Author(s):  
J.F. Guerrero-Castellanos ◽  
A. Vega-Alonzo ◽  
N. Marchand ◽  
S. Durand ◽  
J. Linares-Flores ◽  
...  
Keyword(s):  
Real Time ◽  
Formation Control ◽  
Event Based

A geometric approach to real time pitch detection

2003 ◽  
Author(s):  
T.D. Nguyen ◽  
J.B. Ferguson ◽  
T.W. McNamara
Keyword(s):  
Real Time ◽  
Geometric Approach ◽  
Pitch Detection

scholarly journals Multi-Robot Formation Control via a Real-Time Drawing Interface

2013 ◽  
pp. 175-189 ◽  
Author(s):  
Sandro Hauri ◽  
Javier Alonso-Mora ◽  
Andreas Breitenmoser ◽  
Roland Siegwart ◽  
Paul Beardsley
Keyword(s):  
Real Time ◽  
Formation Control ◽  
Multi Robot

scholarly journals Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985733
Author(s):  
Sung-Gil Wee ◽  
Yanyan Dai ◽  
Tae Hun Kang ◽  
Suk-Gyu Lee
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Formation Control ◽  
Experimental Results ◽  
Optimal Size ◽  
Multiple Robots ◽  
Flexible Control ◽  
Formation Pattern ◽  
Multi Robot

This article describes a novel multi-robot formation control based on a switching technique that allows follower robots to maintain formation when the leader robot’s direction changes rapidly or unexpectedly. The formation pattern is determined using Virtual Robot’s Center of the multi-robot formation. To avoid collision, the formation of robots reformed in optimal size by estimating the distance between the robot and an obstacle in real time. When the leader robot suddenly changes its direction, waypoints of follower robots are switched and the formation is quickly reconstructed. This prevents follower robots from colliding with each other and reduces their radius of movement and allows them to follow the leader robot at higher speed. The proposed method which is inherently a flexible control of multi-robot formation guarantees collision avoidance and prevents sudden changes in waypoints of the system by gradually changing its size. The validity of the proposed method is demonstrated via simulation and experimental results.

A geometric approach to manipulator path planning in 3D space in the presence of obstacles

Robotica ◽  
1992 ◽  
Vol 10 (4) ◽  
pp. 321-328
Author(s):  
Manja Kirćanski ◽  
Olga Timčenko
Keyword(s):  
Euclidean Space ◽  
Path Planning ◽  
Real Time ◽  
Control Level ◽  
Geometric Approach ◽  
Geometric Method ◽  
Reachable Workspace ◽  
3D Space ◽  
Simulation Results ◽  
Polyhedral Obstacles

SUMMARYThe paper presents a geometric method for collision-free manipulator path planning in 3D Euclidean space with polyhedral obstacles. It ensures that none of the links nor the manipulator tip collide with the objects. The method is computationally very cheap and it does not require intensive off-line preprocessing. Hence, it is real-time applicable if the information about obstacles positions and shapes is obtained from a higher control level. The trajectories generated lie within the reachable workspace. The method is implemented on a VAX 11/750 computer and the simulation results are included.

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