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Volume 27 Issue 1 - Publication Date: 1 January 2008
 
Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments
 
Silvia Mastellone, Dušan M. Stipanovi'c, Christopher R. Graunke, Koji A. Intlekofer and Mark W. Spong Coordinated Science Laboratory, University of Illinois, 1308 West Main Street, Urbana, IL 61801, USA
 
In this paper we present a theoretical and experimental result on the control of multi-agent non-holonomic systems. We design and implement a novel decentralized control scheme that achieves dynamic formation control and collision avoidance for a group of non-holonomic robots. First, we derive a feedback law using Lyapunov-type analysis that guarantees collision avoidance and tracking of a reference trajectory for a single robot. Then we extend this result to the case of multiple non-holonomic robots, and show how different multi-agent problems, such as formation control and leader–follower control, can be addressed in this framework. Finally, we combine the above results to address the problem of coordinated tracking for a group of agents. We give extensive experimental results that validate the effectiveness of our results in all three cases.
 
Multimedia Key
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Example 1: Summary of experiment 1 showing a robot tracking a circular trajectory while avoiding collision with an obstacle that is placed in its path. The obstacle is placed at different points of the path and each time the robot follows a different alternative trajectory in order to avoid collision and minimize the deviation from its original trajectory. (19.6 MB) mpeg
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Example 2: Illustration of experiment 2 showing two robots moving on their path and avoiding collision with each other in a cooperative fashion. (13.3 MB) mpeg
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Example 3: Illustration of the third experiment showing three robots following a circular trajectory and dynamically changing their formation from a line to a “V” shape. (7.4 MB) mpeg
 
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