1. Flocking and Target Interception Control for Formations of Nonholonomic Kinematic Agents
- Author
-
Tairan Liu, Victor Fernandez-Kim, Milad Khaledyan, and Marcio de Queiroz
- Subjects
Nonholonomic system ,0209 industrial biotechnology ,Flocking (behavior) ,Computer science ,Rigidity (psychology) ,02 engineering and technology ,Kinematics ,Computer Science::Robotics ,020901 industrial engineering & automation ,Control and Systems Engineering ,Control theory ,0202 electrical engineering, electronic engineering, information engineering ,Graph (abstract data type) ,Robot ,020201 artificial intelligence & image processing ,Electrical and Electronic Engineering ,Interception - Abstract
In this brief, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the rigidity properties of the graph modeling the sensing/communication interactions among the robots. An input transformation is used to facilitate the control design by converting the nonholonomic model into the single-integrator-like equation. We assume only a subset of the robots knows the desired, time-varying flocking velocity, or the target’s motion. The resulting control schemes include distributed, variable structure observers to estimate the unknown signals. Our stability analyses prove convergence to the desired formation while tracking the flocking velocity or the target motion. The results are supported by experiments.
- Published
- 2020