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Robust circumnavigation of a heterogeneous multi-agent system

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Abstract

This paper focuses on the design of robust control laws for a heterogeneous multi-agent system composed of omnidirectional and differential-drive mobile robots under the leader–follower scheme and considering the distance and orientation measurements. It is assume that the agent leader is an omnidirectional mobile robot moving freely in the plane while the rest of the agents are the followers. The control laws are designed by means of the Backstepping approach. It is proved that, although the control laws do not need information about the velocity of the leader, the followers will circumnavigate the leader. Numerical simulations and real-time experiments exhibit the performance of the proposed control strategy.

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Notes

  1. https://www.dropbox.com/s/az3wed1tevq8i0k/Circumnavigation3agents.mp4?dl=0.

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Acknowledgements

D. Flores-Montes gratefully acknowledges the financial support from CONACYT [Grant Number 887913]. All the authors gratefully acknowledge the support from Univerisdad Iberoamericana DINVP.

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Authors and Affiliations

  1. Universidad Politécnica de Pachuca, Carretera Pachuca - Cd. Sahagún km 20 Ex-Hacienda de Santa Bárbara, Zempoala, Hidalgo, Mexico

    Jaime González-Sierra

  2. Tecnológico Nacional de México/I.T. La Laguna, Blvd. Revolución y, Av. Instituto Tecnológico de La Laguna s/n, Centro, 27000, Torreón, Coahuila, Mexico

    Daniel Flores-Montes

  3. Universidad Iberoamericana, Prolongación Paseo de la Reforma 880, Santa Fe, Álvaro Obregón, 01219, Ciudad de México, Mexico

    Eduardo Gamaliel Hernandez-Martinez & Pablo Paniagua-Contro

  4. Department of Physics and Mathematics, Universidad Iberoamericana, Prolongación Paseo de la Reforma 880, Santa Fe, Álvaro Obregón, 01219, Ciudad de México, Mexico

    Guillermo Fernández-Anaya

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  1. Jaime González-Sierra
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  2. Daniel Flores-Montes
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  3. Eduardo Gamaliel Hernandez-Martinez
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  4. Guillermo Fernández-Anaya
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  5. Pablo Paniagua-Contro
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Correspondence to Jaime González-Sierra.

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González-Sierra, J., Flores-Montes, D., Hernandez-Martinez, E.G. et al. Robust circumnavigation of a heterogeneous multi-agent system. Auton Robot 45, 265–281 (2021). https://doi.org/10.1007/s10514-020-09962-5

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  • DOI: https://doi.org/10.1007/s10514-020-09962-5

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