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

DOI10.1049/IET-CTA.2020.0502MaRDI QIDQ6609068zbMATH OpenFDO

Authors Vu Phi Tran, Matt Garratt, Ian R. Petersen

Publication date 20 September 2024

Published in IET Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

stabilitydistributed controlcollision avoidancequadrotor UAVclosed loop systemsmulti-robot systemsrobot visionclosed-loop control systemuncertain environmentsmultirobot systemautonomous aerial vehiclesformation keepingformation shapeswitching systems (control)directed dynamic topologydistributed leader-follower cooperative control problemformation strategyinter-mobile robot collisioninter-robot collision avoidancenetworked heterogeneous unmanned aerial vehicle-unmanned ground vehicleNI obstacle avoidance strategyNI-systems theorynovel negative imaginary switching formation protocolobstacle avoidance formationobstacle avoidance techniquereliable robot communicationsrigorously comparative studystrictly negative imaginary controllerswitching formation control methodUAV-UGVUGV robotUGVs' formationunexpected obstaclesvirtual propulsive force

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Multi-agent systems (93A16)

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Cites work

• Consensus tracking for second-order nonlinear multi-agent systems with switching topologies and a time-varying reference state
• Leader-following consensus of multi-agent systems under fixed and switching topologies
• Robust cooperative control of multiple heterogeneous negative-imaginary systems
• Synchronization of multi-agent systems with heterogeneous controllers

Cited in

(2)

• Formation control for swarm system with dynamic obstacles
• Adaptive virtual leader-leader-follower based formation switching for multiple autonomous tracked mobile robots in unknown obstacle environments

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