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  Formation control driven by cooperative object tracking

Lima, P., Ahmad, A., Dias, A., Conceição, A., Moreira, A., Silva, E., et al. (2015). Formation control driven by cooperative object tracking. Robotics and Autonomous Systems, 63(1), 68-79. doi:10.1016/j.robot.2014.08.018.

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Lima, PU, Author
Ahmad, A1, 2, Author              
Dias, A, Author
Conceição, AGS, Author
Moreira, AP, Author
Silva, E, Author
Almeida, L, Author
Oliveira, L, Author
Nascimento, TP, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different 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 cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

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 Dates: 2015-01
 Publication Status: Published in print
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 Rev. Type: -
 Identifiers: DOI: 10.1016/j.robot.2014.08.018
BibTex Citekey: LimaADCMSAON2014
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Title: Robotics and Autonomous Systems
Source Genre: Journal
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Pages: - Volume / Issue: 63 (1) Sequence Number: - Start / End Page: 68 - 79 Identifier: -