A1 Refereed original research article in a scientific journal
Safety-Guaranteed Distributed Formation Control of Multi-Robot Systems Over Graphs With Rigid and Elastic Edges
Authors: Pham, Hoang; Ranasinghe, Nadun; Le, Dong; Atman, Made Widhi Surya; Gusrialdi, Azwirman
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Publication year: 2024
Journal: IEEE Robotics and Automation Letters
Journal name in source: IEEE Robotics and Automation Letters
Volume: 9
Issue: 11
First page : 10240
Last page: 10247
ISSN: 2377-3766
eISSN: 2377-3774
DOI: https://doi.org/10.1109/LRA.2024.3471460
Web address : https://doi.org/10.1109/lra.2024.3471460
Abstract
This letter considers the problem of formation control of multi-robot systems represented by a graph featuring both rigid and elastic edges, capturing specified range tolerance to the desired inter-robot distances. The objective is to navigate the robots safely through unknown environments with obstacles, utilizing onboard sensors like LiDAR while maintaining inter-robot distance constraints. To this end, a novel cooperative control algorithm is proposed, employing quadratic programming and leveraging control barrier functions to integrate multiple control objectives seamlessly. This approach ensures a unified strategy and provides a safety certificate. Experimental validation of the proposed cooperative control algorithm is conducted using a robotic testbed.
This letter considers the problem of formation control of multi-robot systems represented by a graph featuring both rigid and elastic edges, capturing specified range tolerance to the desired inter-robot distances. The objective is to navigate the robots safely through unknown environments with obstacles, utilizing onboard sensors like LiDAR while maintaining inter-robot distance constraints. To this end, a novel cooperative control algorithm is proposed, employing quadratic programming and leveraging control barrier functions to integrate multiple control objectives seamlessly. This approach ensures a unified strategy and provides a safety certificate. Experimental validation of the proposed cooperative control algorithm is conducted using a robotic testbed.
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