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Formation by Consensus in Heterogeneous Robotic Swarms with Twins-in-the-Loop

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ROBOT2022: Fifth Iberian Robotics Conference (ROBOT 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 589))

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Abstract

This paper presents a case of experimentation with heterogeneous robots swarms (quadrotors and differential drive robots) where part of the agents are real and the rest are digital twins. The software architecture has been developed in ROS2 Foxy, which provides a framework in which real or virtual agents are indistinguishable from the communication point of view. The developed platform allows to define different control objectives for multi-agent systems. In this paper, we illustrate how the formation control of the heterogeneous multi-agent system is achieved. The formation is defined by means of vectors that represent the desired relative positions between agents.

This work was supported in part by Agencia Estatal de Investigación (AEI) under the Project PID2020-112658RB-I00/AEI/10.13039/501100011033, the Project 2021V/-TAJOV/001 and the Project IEData 2016-6.

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Author information

Authors and Affiliations

  1. Department of Computer Sciences and Automatic Control, Universidad Nacional de Educación a Distancia (UNED), Juan del Rosal 16, 28040, Madrid, Spain

    Francisco-José Mañas-Álvarez, María Guinaldo, Raquel Dormido, Rafael Socas & Sebastián Dormido

Authors
  1. Francisco-José Mañas-Álvarez
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  2. María Guinaldo
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  3. Raquel Dormido
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  4. Rafael Socas
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  5. Sebastián Dormido
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Corresponding author

Correspondence to Francisco-José Mañas-Álvarez .

Editor information

Editors and Affiliations

  1. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

  2. Grupo de Robótica, Universidad de León, León, Spain

    Vicente Matellán

  3. GRVC Robotics Lab, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Guillermo Heredia

  4. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  5. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Lino Marques

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Mañas-Álvarez, FJ., Guinaldo, M., Dormido, R., Socas, R., Dormido, S. (2023). Formation by Consensus in Heterogeneous Robotic Swarms with Twins-in-the-Loop. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_36

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