Cooperative visibility maintenance in SE(3) for multi-robot-networks with limited field-of-view sensors
Hasan A.POONAWALA
Mark W.SPONG
摘要：Coordination of motion between multiple robots requires the robots to sense their relative poses.Common sensors depend on maintaining a line-of-sight between the sensor and the object being sensed.When the robots move relative to one another,they must coordinate their motions to ensure that these lines-of-sight are preserved.We propose a control method to preserve desired lines-of-sight in a multi-robot system where each robot has configuration space S]E(3).A key feature of the control method is its ability to reject persistent bounded disturbances,enabling its use alongside additional control tasks.We demonstrate the effectiveness of the edge-preserving control in simulations involving additional input velocities that tend to break the edges.
机标关键词：control methodconfiguration spacemultiple robots
论文发表日期：2017-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：12( 246-257 )
英文信息