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New coordination scheme for multi-robot systems based on state space models

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Journal of systems Engineering and Electronics 2008年第4期19卷 722-734页

作者： Xie Wenlong Su Jianbo Lin Zongli Dept. of Automation Shanghai Jiaotong Univ. Shanghai 200240 P. R. China Charles L. Brown Dept. of Electrical and Computer Engineering Univ of Virginia Charlottesville VA 22904-4743 USA

A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.

关键词： multi-robot system coordination state space formation maneuver subgoal

Distributed swarm control for multi-robot systems inspired by shepherding behaviors

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Science China(Technological Sciences) 2024年第7期67卷 2191-2202页

作者： SUN GuiBin GU HaiBo LÜJinHu School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Zhongguancun Laboratory Beijing 100094China

Swarming behaviors play an eminent role in both biological and engineering research, and show great potential applications in many emerging fields. Traditional swarming models still lack integrity, uniformity, and stability in swarm forming processes,resulting in fragmentation and void phenomena. Inspired by the shepherding behaviors observed in nature, we propose an integrated negotiation-control scheme for distributed swarm control of massive robots. The core idea of this scheme is that the robots at the boundary of the group herd the internal robots to form an equilibrium swarm. For this purpose, we introduce a concept of virtual group center towards which boundary robots herd internal robots. Then, a distributed negotiation mechanism is designed to allow each robot to negotiate the virtual group center only through local interactions with its neighbors. After that, we propose a shepherding-inspired swarm control law to drive a group of robots to form an integrated, uniform, and stable configuration from any initial states. Both numerical and flight simulations are presented to verify the effectiveness of our proposed swarm control scheme.

关键词： swarm control multi-robot system negotiation-control scheme shepherding behavior

multi-robot Task Allocation and Path Planning system Design

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Multi-robot Task Allocation and Path Planning System Design

A Strategy for Heterogeneous multi-robot Self-Localization system

第三十九届中国控制会议

作者： Yunfeng Fan Fang Deng Xiang Shi School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center

This paper studies the task allocation and path planning of multi-robot system in a two-dimensional warehouse logistics environment.A task allocation algorithm based on market auctions is used,and an improved Astar algorithm is proposed to implement multi-robot path *** the task assignment,robots make bids in conjunction with the cost of the task itself and the associated cost between tasks,in order to optimize the two performance indicators of the total distance of all robots and the total running time of the *** with the traditional Astar algorithm,the improved Astar algorithm is combined with traffic rules and reservation tables to obtain the shortest path while avoiding problems such as *** simulation results show that the system can effectively implement the tasks of multi-robot task allocation and path planning in a two-dimensional warehouse logistics environment.

关键词： Warehousing environment multi-robot system Task allocation Path planning

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A Strategy for Heterogeneous Multi-Robot Self-Localization S...

Leader-following Rendezvous with Connectivity Preservation for multi-robot systems with an Unknown Leader 36

2011 Chinese Control and Decision Conference（CCDC）

作者： Haiqing Sun University of Science and Technology of China Wei Zheng University of Science and Technology of China Yang Cao University of Science and Technology of China Zengfu Wang University of Science and Technology of China

In this paper,We presented an indoor robot self-localization system which is composed of a ground robot and a flight *** ground robot is equipped with the laser range finder which can guarantee the ground robot able to get the two-dimensional coordinate information in real-time when it moves on the *** is a laser pointer installed on the ground robot which can project the linearity light pattern on the indoor ceiling’s *** the flight robot,there is a wireless webcam which can get the ceiling’s projection *** the obtained pictorial information will be send to the ground robot through the wireless *** the next,the real-time 3D pose of flight robot is obtained by combining the visual localization results with the ground robot’s *** this way,the system will achieve the heterogeneous multi robot’s independent *** this paper,we describe not only the self-localization system but also the strategy on which the two robots coordinate *** the method that obtains the real-time image pretreatment is *** experimental results with both simulated and real image data are provided to demonstrate the feasibility of this strategy.

关键词： multi-robot system flight robot localization

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Leader-following Rendezvous with Connectivity Preservation f...

multi-robot Cooperative Localization:Time-Varying Unobservable Subspace Analysis and Consistent Algorithm Design

第36届中国控制会议

作者： Hongtao Xie Yi Dong Department of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781538629185

This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader,both of which are generated by a so-called exosystem with parametric *** combining internal model design,potential function technique and adaptive control,a distributed control strategy is proposed to maintain the connectivity of the communication network,to achieve the asymptotic tracking of all the followers to the output of the unknown leader system,as well as to reject unknown external disturbances.

关键词： multi-robot system connectivity preservation rendezvous internal model design

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Journal of systems Science & Complexity 2024年第5期37卷 1937-1955页

作者： HAO Ning HE Fenghua YAO Yu School of Astronautics Harbin Institute of TechnologyHarbin 150000China

This paper investigates the problem of cooperative localization(CL)for a multi-robot system(MRS)under dynamic measurement topology,which involves a group of robots collectively estimating their poses with respect to a common reference frame using ego-motion measurements and robot-to-robot relative *** authors provide a theoretical analysis of the time-varying unobservable subspace and propose a consistent cooperative localization ***,the authors introduce the relative measurement graph(RMG)to represent the relative pose measurements obtained by the MRS at each ***,the authors derive the local observability matrix over a time *** equivalent relationship is established between the local observability matrix and the spectral matrices of the ***,the authors present a method for constructing the unobservable subspace based on the RMG under different topology *** on this analysis,the authors design a consistent cooperative localization algorithm that satisfies the constraints of the time-varying unobservable *** analytical optimal solution is derived for the constrained optimization *** Carlo numerical simulations are conducted to demonstrate the consistency and accuracy of the proposed method.

关键词： Consistency cooperative localization multi-robot system null space relative measurement graph time-varying unobservable subspace

Task scheduling for transport and pick robots in logistics:a comparative study on constructive heuristics

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Autonomous Intelligent systems 2021年第1期1卷 273-285页

作者： Hanfu Wang Weidong Chen Institute of Medical robotics Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of system Control and Information Processing Ministry of EducationDepartment of AutomationShanghai Jiao Tong UniversityShanghai 200240China

We study the Transport and Pick robots Task Scheduling(TPS)problem,in which two teams of specialized robots,transport robots and pick robots,collaborate to execute multi-station order fulfillment tasks in logistic *** objective is to plan a collective time-extended task schedule with the minimization of ***,for this recently formulated problem,it is still unclear how to obtain satisfying results *** this research,we design several constructive heuristics to solve this problem based on the introduced sequence ***,we give time complexity analysis or feasibility guarantees of these heuristics;empirically,we evaluate the makespan performance criteria and computation time on designed *** results demonstrate that coupled append heuristic works better for the most cases within reasonable computation *** heuristics work better than decoupled heuristics prominently on instances with relative few pick robot numbers and large work *** law of diminishing marginal utility is also observed concerning the overall system performance and different transport-pick robot numbers.

关键词： multi-robot task allocation multi-robot system Complex-schedule constraints Heterogeneous robotic order fulfillment system

Brain-Controlled multi-robot at Servo-Control Level Based on Nonlinear Model Predictive Control

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Complex system Modeling and Simulation 2022年第4期2卷 307-321页

作者： Zhenge Yang Luzheng Bi Weiming Chi Haonan Shi Cuntai Guan the School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China. the School of Computer Science and Engineering Nanyang Technological UniversitySingapore 639673Singapore

Using a brain-computer interface(BCI)rather than limbs to control multiple robots(i.e.,brain-controlled multi-robots)can better assist people with disabilities in daily life than a brain-controlled single *** example,one person with disabilities can move by a brain-controlled wheelchair(leader robot)and simultaneously transport objects by follower *** this paper,we explore how to control the direction,speed,and formation of a brain-controlled multi-robot system(consisting of leader and follower robots)for the first time and propose a novel multi-robot predictive control framework(MRPCF)that can track users'control intents and ensure the safety of multiple *** MRPCF consists of the leader controller,follower controller,and formation *** build a whole brain-controlled multi-robot physical system for the first time and test the proposed system through human-in-the-loop actual *** experimental results indicate that the proposed system can track users'direction,speed,and formation control intents when guaranteeing multiple robots’*** paper can promote the study of brain-controlled robots and multi-robot systems and provide some novel views into human-machine collaboration and integration.

关键词： brain-computer interface human-machine collaboration model predictive control multi-robot system

Adaptive Memetic Algorithm with Dual-Level Local Search for Cooperative Route Planning of multi-robot Surveillance systems

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Complex system Modeling and Simulation 2024年第2期4卷 210-221页

作者： Hao Cheng Jin Yi Wei Xia Huayan Pu Jun Luo the State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing UniversityChongqing 400044China the Department of Electronics Information and BioengineeringPolitecnico di MilanoMilano 20133Italy

The heightened autonomy and robust adaptability inherent in a multi-robot system have proven pivotal in disaster search and rescue,agricultural irrigation,and environmental *** study addresses the coordination of multiple robots for the surveillance of various key target positions within an *** involves the allocation of target positions among robots and the concurrent planning of routes for each *** tackle these challenges,we formulate a unified optimization model addressing both target allocation and route ***,we introduce an adaptive memetic algorithm featuring dual-level local search *** algorithm operates independently among and within robots to effectively solve the optimization problem associated with *** proposed method’s efficacy is substantiated through comparative numerical experiments and simulated experiments involving diverse scales of robot teams and different target positions.

关键词： multi-robot system surveillance memetic algorithm