Distributed predictive formation control of networked mobile robots subject to communication delay
This paper provides a novel distributed predictive controller with guaranteed stability to maintain formation between mobile robots during their motion along a desired path and assure no collisions with obstacles or other adjacent robots, while data is exchanged among them via a packet-delaying comm...
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| Published in | Robotics and autonomous systems Vol. 91; pp. 194 - 207 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
01.05.2017
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0921-8890 1872-793X |
| DOI | 10.1016/j.robot.2017.01.005 |
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| Abstract | This paper provides a novel distributed predictive controller with guaranteed stability to maintain formation between mobile robots during their motion along a desired path and assure no collisions with obstacles or other adjacent robots, while data is exchanged among them via a packet-delaying communication network. First, the closed-loop system dynamics are described as a delayed differential equation with tunable parameters. Then, these adjustable gains are determined synchronously in each agent by the proposed predictive strategy such that a desirable formation is achieved. The efficiency and applicability of the suggested scheme are demonstrated by simulation results. |
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| AbstractList | This paper provides a novel distributed predictive controller with guaranteed stability to maintain formation between mobile robots during their motion along a desired path and assure no collisions with obstacles or other adjacent robots, while data is exchanged among them via a packet-delaying communication network. First, the closed-loop system dynamics are described as a delayed differential equation with tunable parameters. Then, these adjustable gains are determined synchronously in each agent by the proposed predictive strategy such that a desirable formation is achieved. The efficiency and applicability of the suggested scheme are demonstrated by simulation results. |
| Author | Hosseinzadeh Yamchi, Mohammad Mahboobi Esfanjani, Reza |
| Author_xml | – sequence: 1 givenname: Mohammad surname: Hosseinzadeh Yamchi fullname: Hosseinzadeh Yamchi, Mohammad – sequence: 2 givenname: Reza surname: Mahboobi Esfanjani fullname: Mahboobi Esfanjani, Reza email: mahboobi@sut.ac.ir |
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| SubjectTerms | Formation control Model predictive control Multi-robot systems Time-delay systems |
| Title | Distributed predictive formation control of networked mobile robots subject to communication delay |
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