TY - GEN
T1 - A Cooperative Level Curve Tracking Algorithm without Communications
AU - Ding, Tianyi
AU - Zheng, Ronghao
AU - Zhang, Senlin
AU - Liu, Meiqin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Algorithms for a multi-robot system to track the desired level curve of a scalar field have a wide range of applications in environmental exploration. Traditional algorithms generally require communications between robots for gradient estimation on the unknown environment. In the case where the accurate global locations and communications are limited, e.g., underwater environments, communication-based algorithms may be inapplicable. This paper proposes an improved algorithm that does not rely on communications nor global locations of robots. A distributed formation control law is designed to solve the level curve tracking problem. Each robot only uses local measurements of the field and relative positions of its neighbors to maintain formation. The dynamics and stability of the algorithm are analyzed. Additionally, the efficiency of the algorithm is validated through simulations.
AB - Algorithms for a multi-robot system to track the desired level curve of a scalar field have a wide range of applications in environmental exploration. Traditional algorithms generally require communications between robots for gradient estimation on the unknown environment. In the case where the accurate global locations and communications are limited, e.g., underwater environments, communication-based algorithms may be inapplicable. This paper proposes an improved algorithm that does not rely on communications nor global locations of robots. A distributed formation control law is designed to solve the level curve tracking problem. Each robot only uses local measurements of the field and relative positions of its neighbors to maintain formation. The dynamics and stability of the algorithm are analyzed. Additionally, the efficiency of the algorithm is validated through simulations.
KW - distributed formation control
KW - level curve tracking
KW - multi-robot systems
UR - https://www.scopus.com/pages/publications/85142424914
U2 - 10.1109/ICoIAS56028.2022.9931260
DO - 10.1109/ICoIAS56028.2022.9931260
M3 - 会议稿件
AN - SCOPUS:85142424914
T3 - 5th International Conference on Intelligent Autonomous Systems, ICoIAS 2022
SP - 225
EP - 230
BT - 5th International Conference on Intelligent Autonomous Systems, ICoIAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Intelligent Autonomous Systems, ICoIAS 2022
Y2 - 23 September 2022 through 25 September 2022
ER -