NDLI: Synthesis of feedback controllers for multiple aerial robots with geometric constraints

Content Provider	IEEE Xplore Digital Library
Author	Ayanian, Nora Kallem, Vinutha Kumar, Vijay
Copyright Year	2011
Description	Author affiliation: GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA (Ayanian, Nora; Kallem, Vinutha; Kumar, Vijay)
Abstract	We address the problem of developing feedback controllers for a group of robots with second-order dynamics in an obstacle-filled, D-dimensional environment. Our control algorithm takes into account communication constraints, obstacle avoidance, and inter-robot collision avoidance, by synthesizing a piecewise smooth vector field for safe navigation. First, the feasible free joint configuration space is tessellated into polytopes that account for the desired constraints. We search the graph of these polytopes to find a discrete path to the goal polytope. We then use a novel navigation function-based feedback controller that drives the system from one polytope to the next and eventually to the goal. The controller exploits the fact that two adjoining polytopes in the planned discrete path together form a star-shaped object that is obstacle free; this enables the design of navigation function-based controller for kinematic and dynamic fully actuated robots without spurious minima. We sequentially compose these controllers to drive the state to the goal. For a polygonal space, the algorithm we propose is complete. We present successful simulation results of the algorithm on a group of ground vehicles and quadrotors performing a cooperative navigation task in constrained environments.
Starting Page	3126
Ending Page	3131
File Size	1036100
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094943
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Navigation Collision avoidance Aerospace electronics Heuristic algorithms Kinematics Convergence
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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