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Perception-driven multi-robot formation control


Conference Paper


Maximizing the performance of cooperative perception of a tracked target by a team of mobile robots while maintaining the team's formation is the core problem addressed in this work. We propose a solution by integrating the controller and the estimator modules in a formation control loop. The controller module is a distributed non-linear model predictive controller and the estimator module is based on a particle filter for cooperative target tracking. A formal description of the integration followed by simulation and real robot results on two different teams of homogeneous robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target's cooperative estimate while complying with the performance criteria such as keeping a pre-set distance between the team-mates and/or the target and obstacle avoidance.

Author(s): Ahmad, A and Nascimento, T and Conceicao, AGS and Moreira, AP and Lima, P
Pages: 1851-1856
Year: 2013
Month: May
Publisher: IEEE

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/ICRA.2013.6630821
Event Name: IEEE International Conference on Robotics and Automation (ICRA 2013)
Event Place: Karlsruhe, Germany


  title = {Perception-driven multi-robot formation control},
  author = {Ahmad, A and Nascimento, T and Conceicao, AGS and Moreira, AP and Lima, P},
  pages = {1851-1856},
  publisher = {IEEE},
  month = may,
  year = {2013},
  month_numeric = {5}