Communication-Efficient Formation Maintenance for Multi-Robot System with a Safety Certificate

Anirudh Aynala; Widhi Atman; Azwirman Gusrialdi

doi:10.1109/CCTA49430.2022.9966113

Communication-Efficient Formation Maintenance for Multi-Robot System with a Safety Certificate

Anirudh Aynala
, Widhi Atman
, Azwirman Gusrialdi

Automaatio- ja konetekniikka

Tutkimustuotos: Konferenssiartikkeli › Tieteellinen › vertaisarvioitu

3 Sitaatiot (Scopus)

39 Lataukset (Pure)

Abstrakti

This paper presents a real-time cooperative control algorithm for multi-robot systems to perform formation maintenance and navigate through the environment while avoiding collision with static obstacles and among different group formations of robots. The control algorithm is computed by solving a quadratic program and utilizing the control barrier function to efficiently incorporate multiple control objectives in a unified manner and provide a safety certificate. In addition, a novel method for collision avoidance among different formations of robots is presented which only requires a representative robot in each formation to communicate with each other and thus reduces the required communication between the robots. The cooperative control algorithm is verified using a robotic experimental testbed.

Alkuperäiskieli	Englanti
Otsikko	2022 IEEE Conference on Control Technology and Applications
Kustantaja	IEEE
Sivut	608-613
ISBN (elektroninen)	978-1-6654-7338-5
DOI - pysyväislinkit	https://doi.org/10.1109/CCTA49430.2022.9966113
Tila	Julkaistu - 2022
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	IEEE Conference on Control Technology and Applications - Trieste, Italia Kesto: 23 elok. 2022 → 25 elok. 2022

Conference

Conference	IEEE Conference on Control Technology and Applications
Maa/Alue	Italia
Kaupunki	Trieste
Ajanjakso	23/08/22 → 25/08/22

Julkaisufoorumi-taso

Jufo-taso 1

Pääsy asiakirjaan

10.1109/CCTA49430.2022.9966113

CCTA22_Gusrialdi
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited
Accepted author manuscript, 3,43 MBLisenssi: Unspecified

https://urn.fi/URN:NBN:fi:tuni-202301171452Lisenssi: Unspecified

Verkottunut robotiikka - NeBoLab
Gusrialdi, A. (Yhteyshenkilö)
Automaatio- ja konetekniikka
Laitteistot/tilat: Tutkimusinfrastruktuuri

Siteeraa tätä

@inproceedings{cbeab1bb049e4705baf9f86d1b18df65,

title = "Communication-Efficient Formation Maintenance for Multi-Robot System with a Safety Certificate",

abstract = "This paper presents a real-time cooperative control algorithm for multi-robot systems to perform formation maintenance and navigate through the environment while avoiding collision with static obstacles and among different group formations of robots. The control algorithm is computed by solving a quadratic program and utilizing the control barrier function to efficiently incorporate multiple control objectives in a unified manner and provide a safety certificate. In addition, a novel method for collision avoidance among different formations of robots is presented which only requires a representative robot in each formation to communicate with each other and thus reduces the required communication between the robots. The cooperative control algorithm is verified using a robotic experimental testbed.",

author = "Anirudh Aynala and Widhi Atman and Azwirman Gusrialdi",

year = "2022",

doi = "10.1109/CCTA49430.2022.9966113",

language = "English",

pages = "608--613",

booktitle = "2022 IEEE Conference on Control Technology and Applications",

publisher = "IEEE",

address = "United States",

note = "IEEE Conference on Control Technology and Applications ; Conference date: 23-08-2022 Through 25-08-2022",

}

TY - GEN

T1 - Communication-Efficient Formation Maintenance for Multi-Robot System with a Safety Certificate

AU - Aynala, Anirudh

AU - Atman, Widhi

AU - Gusrialdi, Azwirman

PY - 2022

Y1 - 2022

N2 - This paper presents a real-time cooperative control algorithm for multi-robot systems to perform formation maintenance and navigate through the environment while avoiding collision with static obstacles and among different group formations of robots. The control algorithm is computed by solving a quadratic program and utilizing the control barrier function to efficiently incorporate multiple control objectives in a unified manner and provide a safety certificate. In addition, a novel method for collision avoidance among different formations of robots is presented which only requires a representative robot in each formation to communicate with each other and thus reduces the required communication between the robots. The cooperative control algorithm is verified using a robotic experimental testbed.

AB - This paper presents a real-time cooperative control algorithm for multi-robot systems to perform formation maintenance and navigate through the environment while avoiding collision with static obstacles and among different group formations of robots. The control algorithm is computed by solving a quadratic program and utilizing the control barrier function to efficiently incorporate multiple control objectives in a unified manner and provide a safety certificate. In addition, a novel method for collision avoidance among different formations of robots is presented which only requires a representative robot in each formation to communicate with each other and thus reduces the required communication between the robots. The cooperative control algorithm is verified using a robotic experimental testbed.

U2 - 10.1109/CCTA49430.2022.9966113

DO - 10.1109/CCTA49430.2022.9966113

M3 - Conference contribution

SP - 608

EP - 613

BT - 2022 IEEE Conference on Control Technology and Applications

PB - IEEE

T2 - IEEE Conference on Control Technology and Applications

Y2 - 23 August 2022 through 25 August 2022

ER -

Communication-Efficient Formation Maintenance for Multi-Robot System with a Safety Certificate

Abstrakti

Conference

Julkaisufoorumi-taso

Pääsy asiakirjaan

Sormenjälki

Laitteet

Verkottunut robotiikka - NeBoLab

Siteeraa tätä