NDLI: Switching formation strategy with the directed dynamic topology for collision avoidance of a multi-robot system in uncertain environments

Content Provider	IET Digital Library
Author	Tran, Vu Phi Garratt, Matthew A. Petersen, Ian R.
Abstract	This paper tackles the distributed leader–follower cooperative control problem for networked heterogeneous unmanned aerial vehicle–unmanned ground vehicle (UAV-UGV) systems in unknown environments requiring formation keeping, obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To adopt various formations, we design a novel negative imaginary (NI) switching formation protocol with a directed dynamic topology. To prevent an inter-mobile robot collision, a new method to formulate the virtual propulsive force between robots is employed. To avoid unexpected obstacles, a new obstacle avoidance technique that allows the UGVs' formation to change its shape and the UGVs' roles is developed. To determine each UGV robot's order in obstacle avoidance formation, a quadrotor UAV, controlled by a strictly negative imaginary controller involving good wind resistance characteristics, tracks the center of formation shape to guarantee the maintaining visibility for multi-robot systems on the ground. The proposed control system's efficacy is investigated through a rigorously comparative study with other control techniques, namely, the performance of artificial potential field and an NI obstacle avoidance strategy using the switching formation control method without switching topology. Finally, we also conduct a stability analysis of the closed-loop control system using the NI-systems theory.
Starting Page	2948
Ending Page	2959
Page Count	12
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 18, Dec (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/18
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2020.0502
Journal	IET Control Theory & Applications
Publisher Date	2020-09-14
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Control Autonomous Aerial Vehicle Closed Loop System Closed-loop Control System Collision Avoidance Computer Vision And Image Processing Technique Directed Dynamic Topology Distributed Control Distributed Leader–follower Cooperative Control Problem Formation Keeping Formation Shape Formation Strategy Inter-mobile Robot Collision Inter-robot Collision Avoidance Mobile Robots Multi-robot System Multirobot System Networked Heterogeneous Unmanned Aerial Vehicle–unmanned Ground Vehicle NI Obstacle Avoidance Strategy NI-System Theory Novel Negative Imaginary Switching Formation Protocol Obstacle Avoidance Formation Obstacle Avoidance Technique Quadrotor UAV Reliable Robot Communication Rigorously Comparative Study Robot Vision Spatial Variables Control Stability Stability in Control Theory Strictly Negative Imaginary Controller Switching Formation Control Method Switching System (control) Telerobotics Time Varying Control System UAV-UGV UGV Robot UGVs' Formation Uncertain Environments Unexpected Obstacles Virtual Propulsive Force
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Novel Dynamic Obstacle Avoidance Algorithm Based on Collision Time Histogram

Multi-UAV-based stereo vision system without GPS for ground obstacle mapping to assist path planning of UGV

An improved artificial physics approach to multiple UAVs/UGVs heterogeneous coordination

Geo-Referenced Mapping through an Anti-Collision Radar Aboard an Unmanned Aerial System

Optimally distributed formation control with obstacle avoidance for mixed-order multi-agent systems under switching topologies

Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader's Unknown Input and Obstacle Avoidance: Theories and Applications

Cooperative UAV Formation Flying With Obstacle/Collision Avoidance

Three-dimensional obstacle avoidance for UAV based on reinforcement learning and RealSense

An adaptive obstacle avoidance algorithm for unmanned surface vehicle in complicated marine environments

Switching formation strategy with the directed dynamic topology for collision avoidance of a multi-robot system in uncertain environments

Similar Documents

A Novel Dynamic Obstacle Avoidance Algorithm Based on Collision Time Histogram

Multi-UAV-based stereo vision system without GPS for ground obstacle mapping to assist path planning of UGV

An improved artificial physics approach to multiple UAVs/UGVs heterogeneous coordination

Geo-Referenced Mapping through an Anti-Collision Radar Aboard an Unmanned Aerial System

Optimally distributed formation control with obstacle avoidance for mixed-order multi-agent systems under switching topologies

Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader's Unknown Input and Obstacle Avoidance: Theories and Applications

Cooperative UAV Formation Flying With Obstacle/Collision Avoidance

Three-dimensional obstacle avoidance for UAV based on reinforcement learning and RealSense

An adaptive obstacle avoidance algorithm for unmanned surface vehicle in complicated marine environments

Switching formation strategy with the directed dynamic topology for collision avoidance of a multi-robot system in uncertain environments