Title :
A modular architecture for formation control
Author :
Fierro, R. ; Das, A.K.
Author_Institution :
MARHES Lab., Oklahoma State Univ., Stillwater, OK, USA
Abstract :
We present a four layer architecture for coordinating a team of mobile robots equipped with range sensors and wireless network cards, and the task of navigating to a desired location in a desired formation. We develop graph-based algorithms for discovery, and cooperative control. Discovery involves the use of sensory information to organize the robots into a mobile network allowing each robot to establish its neighbors and, when necessary, one or more leaders. Cooperative control is the task of achieving a desired formation shape and maintaining it. In addition, we integrate a modular adaptive controller into our framework to explicitly deal with the unknown dynamics of the vehicles information. Numerical simulations illustrate the application of these ideas and demonstrate the scalability of the proposed architecture for a large group of robots.
Keywords :
adaptive control; cooperative systems; directed graphs; mobile robots; motion control; multi-robot systems; navigation; robot dynamics; vehicle dynamics; control graph assignment; cooperative control; directed acyclic graph; discovery; formation control; four layer architecture; graph-based algorithms; mobile network; mobile robot team; modular adaptive controller; modular architecture; navigation; numerical simulations; range sensors; scalability; sensory information; unknown vehicle dynamics; wireless network cards; Adaptive control; Mobile robots; Navigation; Programmable control; Robot kinematics; Robot sensing systems; Shape control; Vehicle dynamics; Vehicles; Wireless sensor networks;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177121