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Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.author Xu, Peng
dc.contributor.author Li, Wenxiang
dc.contributor.author Tao, Jin
dc.contributor.author Dehmer, Matthias
dc.contributor.author Emmert-Streib, Frank
dc.contributor.author Xie, Guangming
dc.contributor.author Xu, Minyi
dc.contributor.author Zhou, Quan
dc.date.accessioned 2020-11-30T08:10:37Z
dc.date.available 2020-11-30T08:10:37Z
dc.date.issued 2020
dc.identifier.citation Xu , P , Li , W , Tao , J , Dehmer , M , Emmert-Streib , F , Xie , G , Xu , M & Zhou , Q 2020 , ' Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance ' , IEEE Access , vol. 8 , pp. 167288-167299 . https://doi.org/10.1109/ACCESS.2020.3023374 en
dc.identifier.issn 2169-3536
dc.identifier.other PURE UUID: 09ae0ff3-81f0-4850-8fc6-b61498b645c6
dc.identifier.other PURE ITEMURL: https://research.aalto.fi/en/publications/distributed-eventtriggered-circular-formation-control-for-multiple-anonymous-mobile-robots-with-order-preservation-and-obstacle-avoidance(09ae0ff3-81f0-4850-8fc6-b61498b645c6).html
dc.identifier.other PURE FILEURL: https://research.aalto.fi/files/53477083/ELEC_Xu_etal_Distributed_Event_Triggered_IEEEAccess_8_2020_finalpublishedversion.pdf
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/61632
dc.description.abstract This article investigates circular formation control problems for a group of anonymous mobile robots in the plane, where all robots can converge asymptotically to a predefined circular orbit around a fixed target point without collision, and maintain any desired relative distances from their neighbors. Given the limited resources for communication and computation of robots, a distributed event-triggered method is firstly designed to reduce dependence on resources in multi-robot systems, where the controller's action is determined by whether the norm of the event-trigger function exceeds zero through continuous sampling. And then, to further minimize communications costs, a self-triggered strategy is proposed, which only uses discrete states sampled and sent by neighboring robots at their event instants. Furthermore, for the two proposed control laws, a Lyapunov functional is constructed, which allows sufficient stability conditions to be obtained on the circular formation for multi-robot systems. And at the same time, the controllers are proved to exclude Zeno behavior. At last, numerical simulation of controlling uniform and non-uniform circular formations by two control methods are conducted. Simulation results show that the designed controller can control all mobile robots to form either a uniform circular formation or a non-uniform circular formation while maintaining any desired relative distances between robots and guaranteeing that there is no collision during the whole evolution. One of the essential features of the proposed control methods is that they reduce the update rates of controllers and the communication frequency between robots. And also, the spatial order of robots is also preserved throughout the evaluation of the system without collision. en
dc.format.extent 12
dc.format.extent 167288-167299
dc.format.mimetype application/pdf
dc.language.iso en en
dc.relation.ispartofseries IEEE Access en
dc.relation.ispartofseries Volume 8 en
dc.rights openAccess en
dc.title Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance en
dc.type A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä fi
dc.description.version Peer reviewed en
dc.contributor.department Dalian Maritime University
dc.contributor.department Robotic Instruments
dc.contributor.department Nankai University
dc.contributor.department Tampere University
dc.contributor.department Peking University
dc.contributor.department Department of Electrical Engineering and Automation
dc.subject.keyword Mobile robots
dc.subject.keyword Collision avoidance
dc.subject.keyword Multi-robot systems
dc.subject.keyword Stability analysis
dc.subject.keyword Licenses
dc.subject.keyword Task analysis
dc.subject.keyword Multi-robot system
dc.subject.keyword Circular formation
dc.subject.keyword Event-triggered
dc.subject.keyword Self-triggered
dc.subject.keyword Directed network
dc.identifier.urn URN:NBN:fi:aalto-2020113020477
dc.identifier.doi 10.1109/ACCESS.2020.3023374
dc.type.version publishedVersion

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