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Related Experiment Video

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Navigation of a compartmentalized robot system.

Bibhya Sharma1, Riteshni D Karan1, Sandeep A Kumar1

  • 1School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Fiji.

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|May 14, 2023
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Summary

This study introduces a novel method for multi-robot coordination using compartmentalized robots. It ensures rigid formation and collision avoidance through analytical minimum distance computation and Lyapunov-based control.

Keywords:
00-0199-00Car like robotCompartmentalizationEfficient variantGlobally rigid formationMinimum distance techniqueMotion control

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Area of Science:

  • Robotics
  • Control Theory
  • Artificial Intelligence

Background:

  • Advancements in single-robot control have shifted focus to multi-robot coordination.
  • Coordinating multiple robots presents complex challenges in motion planning and control.

Purpose of the Study:

  • To develop a novel approach for multi-robot motion planning and control (MPC) using compartmentalized robots.
  • To ensure efficient, collision-free, rigid formation movement in multi-robot systems.

Main Methods:

  • An efficient variant of globally rigid formation for car-like units moving in parallel.
  • Analytical computation of minimum distance between rectangular regions and obstacles.
  • Design of autonomous controllers using a Lyapunov-based control scheme.

Main Results:

  • Demonstrated strict maintenance of rigid formation in simulations.
  • Achieved efficient collision and obstacle avoidance for the compartmentalized robot system.
  • Validated the efficacy of the proposed Lyapunov-based controllers in complex scenarios.

Conclusions:

  • The proposed method enables robust multi-robot coordination with rigid formation and collision avoidance.
  • Opens avenues for research in swarm robotics, dynamic unit splitting/rejoining, and rotational leadership.