開かれたマルチロボットシステムにおける接続性を保つ再構成を伴う安全なフォーメーション制御
Safe Formation Control of Open Multi-Robot Systems with Connectivity-Preserving Reconfiguration
ロボットの参加・離脱が起こる動的なチームで、衝突回避と接続維持を保証しながらフォーメーションを再構成する分散制御手法を提案し、シミュレーションで検証した。
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著者: Pelin Sekercioglu, Nicola De Carli, Dimos V. Dimarogonas
分類: eess.SY
原文アブストラクト
We address the formation control problem for open multi-robot systems (OMRS), i.e., systems in which robots may join or leave the team during operation and new interaction links are established over time, subject to inter-robot collision-avoidance and connectivity-maintenance constraints. The robots are modeled by double integrators, and interact over a dynamic undirected graph. We design a distributed controller based on the gradient of a barrier-Lyapunov function. To enable team reconfiguration, we introduce a formation manager that coordinates robot additions and removals and establishes prospective edges whenever needed, either to connect a joining robot to the team or to preserve connectivity before a robot departs. The upper-distance constraints of prospective edges are temporarily relaxed through auxiliary dynamics that preserve feasibility while progressively recovering the nominal interaction range. The resulting open-team dynamics are modeled as a switched system, for which we establish uniform practical stability for almost all initial conditions under a transition-dependent average dwell-time condition. Finally, the proposed approach is validated in realistic Gazebo simulations with dynamically simulated quadrotors undergoing repeated joining and departure maneuvers.