Controller Resynthesis for Multirobot System When Changes Happen

Computer ◽  
2020 ◽  
Vol 53 (12) ◽  
pp. 69-79
Author(s):  
Hao Shi ◽  
Wei Dong ◽  
Rui Li ◽  
Wanwei Liu
Keyword(s):  
Multirobot System

scholarly journals Adaptive-Neural-Network-Based Shape Control for a Swarm of Robots

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Xuejing Lan ◽  
Zhenghao Wu ◽  
Wenbiao Xu ◽  
Guiyun Liu
Keyword(s):  
Neural Network ◽  
Nonlinear Dynamics ◽  
Shape Control ◽  
Formation Control ◽  
Adaptive Neural Network ◽  
Multirobot System ◽  
Control Scheme ◽  
Narrow Space ◽  
The Stability ◽  
Unknown Nonlinear Dynamics

This paper considers the region-based formation control for a swarm of robots with unknown nonlinear dynamics and disturbances. An adaptive neural network is designed to approximate the unknown nonlinear dynamics, and the desired formation shape is achieved by designing appropriate potential functions. Moreover, the collision avoidance, velocity consensus, and region tracking are all considered in the controller. The stability of the multirobot system has been demonstrated based on the Lyapunov theorem. Finally, three numerical simulations show the effectiveness of the proposed formation control scheme to deal with the narrow space, loss of robots, and formation merging problems.

THROUGHPUT ANALYSIS OF A MULTIROBOT SYSTEM VIA TIMED PETRI NET MODELS

2002 ◽  
Vol 35 (1) ◽  
pp. 247-252
Author(s):  
J.L González Sánchez ◽  
M. Mediavilla Pascual ◽  
J.C.Fraile Marinero ◽  
F.Gayubo Rojo ◽  
J. Pérez Turiel ◽  
...  
Keyword(s):  
Petri Net ◽  
Throughput Analysis ◽  
Timed Petri Net ◽  
Multirobot System

Robust control of a multirobot system

1989 ◽  
Vol 5 (2-3) ◽  
pp. 165-172
Author(s):  
D.M. Stokić ◽  
M.K. Vukobratović
Keyword(s):  
Robust Control ◽  
Multirobot System

Mobile robot society for distributed operations in closed aquatic environment

Robotica ◽  
2000 ◽  
Vol 18 (3) ◽  
pp. 235-250 ◽  
Author(s):  
M. Vainio ◽  
P. Appelqvist ◽  
A. Halme
Keyword(s):  
Control Architecture ◽  
Common Goal ◽  
Underwater Robots ◽  
Test Environment ◽  
Multirobot System ◽  
Cooperative Society ◽  
Living Biomass ◽  
Algae Growth ◽  
Robot Society ◽  
And Control

In this paper a multirobot system consisting of small size ball-shaped mobile underwater robots is introduced. Robots form a cooperative society operating together for a common goal. This is made possible by inter-member communication and control architecture allowing cooperation. The test environment is a closed aquatic process containing tanks, pipes, and a jet pump. The task considered is cleaning of biologically contaminated spots in the process. Detailed hardware structure of a robot-member as well as the control architecture are introduced. Behaviour of the cooperative system is demonstrated in a test environment where contamination caused by biological algae growth is emulated by infrared panels behaving like a living biomass.

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