Title: Co-leaders and a flexible virtual structure based formation motion control

Authors: A. Essghaier, L. Beji, M.A. El Kamel, A. Abichou, J. Lerbet

Addresses: IBISC Laboratory, EA 4526, University of Evry, 40 rue du Pelvoux, 91020, Evry Cedex, France. ' IBISC Laboratory, EA 4526, University of Evry, 40 rue du Pelvoux, 91020, Evry Cedex, France. ' IBISC Laboratory, EA 4526, University of Evry, 40 rue du Pelvoux, 91020, Evry Cedex, France. ' LIM Laboratory, Polytechnic School of Tunisia, BP 743, 2078 La Marsa, Tunisia. ' IBISC Laboratory, EA 4526, University of Evry, 40 rue du Pelvoux, 91020, Evry Cedex, France

Abstract: The motion control of multi-robots in formation using a Flexible Virtual Structure Approach (FVSA) is proposed. The dynamic model of n agents in formation is developed and sufficient conditions to the desired shape|s stability over time are given. Inspired by a shepherd who supervises his troop by controlling the elements on the border, thus, he is able to control all the remainder of the troop. To control the formation shape, one defines control laws for co-leaders, selected from the border, which permits to control motions of the remaining formation agents. The strategy depend strongly on two objectives, on one hand performing an obstacles free motion and on the other avoiding collision among the agents. The Lyapunov technique is used to construct the control law ensuring obstacles avoidance for the agents on the border.

Keywords: co-leaders; collision avoidance; formation shape control; FVSA; flexible virtual structures; motion control; robot control; multi-robot systems; multiple robots; dynamic modelling; obstacle avoidance.

DOI: 10.1504/IJVAS.2011.038182

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.1/2, pp.108 - 125

Received: 02 Jul 2009
Accepted: 27 Apr 2010
Published online: 10 Apr 2015 *

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