Summary
In this chapter, we present two main contributions: (1) a leader-follower formation controller based on dynamic feedback linearization, and (2) a framework for coordinating teams of mobile robots (i.e., swarms). We derive coordination algorithms that allow robot swarms having independent goals but sharing a common environment to reach their target destinations. Derived from simple potential fields and the hierarchical composition of potential fields, our framework leads to a decentralized approach to coordinate complex group interactions. Because the framework is decentralized, it can potentially scale to teams of tens and hundreds of robots. Simulation results verify the scalability and feasibility of the proposed coordination scheme.
The work of the first author is partially supported by NSF grants #0311460 and #0348637 (CAREER), and by the U.S. Army Research Office under grant DAAD19-03-1-0142 (through the University of Oklahoma).
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Fierro, R., Song, P. (2006). Coordination of Robot Teams: A Decentralized Approach. In: Menini, L., Zaccarian, L., Abdallah, C.T. (eds) Current Trends in Nonlinear Systems and Control. Systems and Control: Foundations & Applications. Birkhäuser Boston. https://doi.org/10.1007/0-8176-4470-9_19
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DOI: https://doi.org/10.1007/0-8176-4470-9_19
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