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  Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance

Franchi, A., Stegagno, P., & Oriolo, G. (2016). Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance. Autonomous Robots, 40(2), 245-265. doi:10.1007/s10514-015-9450-3.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A20-3 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A21-2
Genre: Journal Article

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 Creators:
Franchi, A1, Author              
Stegagno, P1, 2, 3, Author              
Oriolo, G, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and only requires local communication among robots; in particular, each robot locally estimates all the relevant global quantities. We validate the proposed strategy through simulations on kinematic point robots and quadrotor UAVs, as well as experiments on differential-drive wheeled mobile robots.

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 Dates: 2016-02
 Publication Status: Published in print
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 Identifiers: DOI: 10.1007/s10514-015-9450-3
BibTex Citekey: FranchiSO2015
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Title: Autonomous Robots
Source Genre: Journal
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Pages: - Volume / Issue: 40 (2) Sequence Number: - Start / End Page: 245 - 265 Identifier: -