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Communication-free autonomous cooperative circumnavigation of unpredictable dynamic objects

Published online by Cambridge University Press:  09 June 2021

A. S. Matveev Open the ORCID record for A. S. Matveev [Opens in a new window]  and
V. V. Magerkin
A. S. Matveev*
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St.Petersburg 198504, Russia Faculty of Control Systems and Robotics, ITMO University, 49 Kronverksky Pr., St. Petersburg 197101, Russia
V. V. Magerkin
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St.Petersburg 198504, Russia
*
*Corresponding author. Email: [email protected]
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Abstract

Each of several speed-limited planar robots is driven by the acceleration, limited in magnitude. There is an unpredictable dynamic complex object, for example, a group of moving targets or an extended moving and deforming body. The robots should reach and then repeatedly trace a certain object-dependent moving and deforming curve that encircles the object and also achieve an effective self-deployment over it. This may be, for example, the locus of points at a desired mean distance or distance from a group of targets or a single extended object, respectively. Every robot has access to the nearest point of the curve and its own velocity and “sees” the objects within a finite sensing range. The robots have no communication facilities, cannot differentiate the peers, and are to be driven by a common law. Necessary conditions for the solvability of the mission are established. Under their slight and partly unavoidable enhancement, a new decentralized control strategy is proposed and shown to solve the mission, while excluding inter-robot collisions, and for the case of a steady curve, to evenly distribute the robots over the curve and to ensure a prespecified speed of their motion over it. These are justified via rigorous global convergence results and confirmed via computer simulations.

Keywords

autonomous sensor-based reactive navigationmultirobot scenariounpredictably moving curvecurve trackingeffective self-deploymentglobal convergence
Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 520 - 543
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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