Cooperative hybrid control of robotic sensors for perimeter detection and tracking

In this paper, we present a decentralized coordination algorithm that allows a robotic swarm to locate and track a dynamic perimeter. A cooperative communication scheme is used by the team to rapidly detect a perimeter. Collision-free cycling behavior emerges by composing simple reactive control law...

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Bibliographic Details
Published in2005 American Control Conference pp. 3500 - 3505 vol. 5
Main Authors Clark, J., Fierro, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Chemical industry
Communication system control
Orbital robotics
Petroleum
Robot control
Robot kinematics
Robot sensing systems
Service robots
Target tracking
Underwater tracking
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ISBN0780390989
9780780390980
9780780390997
0780390997
ISSN0743-1619
DOI10.1109/ACC.2005.1470515

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Summary:In this paper, we present a decentralized coordination algorithm that allows a robotic swarm to locate and track a dynamic perimeter. A cooperative communication scheme is used by the team to rapidly detect a perimeter. Collision-free cycling behavior emerges by composing simple reactive control laws. The decentralized framework could potentially allow the algorithm to scale to many robots. Extensive simulation results and experiments verify the validity and scalability of the proposed cooperative control scheme.
Bibliography:SourceType-Conference Papers & Proceedings-1
ObjectType-Conference Paper-1
content type line 25
ISBN:0780390989
9780780390980
9780780390997
0780390997
ISSN:0743-1619
DOI:10.1109/ACC.2005.1470515