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

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Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Stegagno,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: https://hdl.handle.net/21.11116/0000-0000-7A20-3
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.