Hierarchical Decentralized LQR Control for Formation-Keeping of Cooperative Mobile Robots in Material Transport Tasks
نویسندگان
چکیده
منابع مشابه
Cooperative Control of Mobile Robots in Creating a Runway Platform for Quadrotor Landing
Multi-agent systems are systems in which several agents accomplish a mission in a cooperative manner. In this paper, a novel idea for the construction of a movable runway platform based on multi-agent systems is presented. It is assumed that an aerial agent (quadrotor) decides to make an emergency landing due to reasons such as a decrease in energy level or technical failure, while there is no ...
متن کاملDecentralized Formation Control for a Team of Anonymous Mobile Robots
We present a coordination framework for mobile robot teams performing a task through cooperation. In cooperative robotics applications, robot teams are basically required to generate and maintain a geometric pattern, and adapt to their environment. Moreover, keeping the team formation, they continue to strive toward achieving their mission even if a part of team is unable to work and function n...
متن کاملCooperative Formation Planning and Control of Multiple Mobile Robots
Application of intelligent Wheeled Mobile Robots (WMR) for material handling in the manufacturing environment has been the topic of research in the past decade. Even though researchers have succeeded in applying mobile robots for material handling purpose in the shop floor environment, transporting heavy objects in the assembly line is still a challenge. The dynamical characteristics of a manuf...
متن کاملFuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملDecentralized motion planning for cooperative nonholonomic mobile robots ⋆
This paper presents a decentralized motion planner for a formation of autonomous mobile robots evolving in an unknown environment with obstacles. The motion planning scheme consists of decentralized receding horizon planners that reside on each vehicle to achieve coordination among formation agents. The advantage of the proposed algorithm is that each vehicle only requires local knowledge of it...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Engineering Journal
سال: 2021
ISSN: ['1906-3636']
DOI: https://doi.org/10.4186/ej.2021.25.12.37