Paper Info
Title
A Multi-robot Cooperative Control Strategy for Non-linear Entrapment Problems
Abstract
This paper presents a multi-robot entrapment problem where a group of non-cooperative preys are driven to a set of desired positions by controlling a team of robotic hunters. The main source of complexity is the non-linear behavior of the preys, which is tightly coupled with the position of the hunters. In the paper we analyze the use of a linearized control solution, providing a general framework to solve the entrapment problem for a non-specific number of preys and hunters, and any behavioral model. In order to apply a linear controller, we discuss the search of the operating point for each hunter and its particular control law. Finally, we evaluate the algorithm with different examples of prey dynamics via simulations, analyzing their convergence and the number of hunters needed to control them depending on the size of the group of preys.
Year
DOI
Venue
2019
10.1109/ETFA.2019.8869099
2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Keywords
Field
DocType
multirobot cooperative control strategy,nonlinear entrapment problems,multirobot entrapment problem,robotic hunters,nonlinear behavior,linearized control solution,nonspecific number,behavioral model,prey dynamics,noncooperative preys
Convergence (routing),Control theory,Mathematical optimization,Nonlinear system,Task analysis,Operating point,Behavioral modeling,Robot kinematics,Control engineering,Engineering,Robot
Conference
ISSN
ISBN
Citations 
1946-0740
978-1-7281-0304-4
0
PageRank 
References 
Authors
0.34
12
2
Name
Order
Citations
PageRank
Eduardo Sebastián100.68
Eduardo Montijano221422.27