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Cyclic pursuit in a multi-agent robotic system with double-integrator dynamics under linear interactions

Published online by Cambridge University Press:  23 April 2013

Balaji R. Sharma ,
Subramanian Ramakrishnan  and
Manish Kumar
Balaji R. Sharma
Affiliation:
Cooperative Distributed Systems Laboratory, School of Dynamic Systems, University of Cincinnati, Cincinnati, OH 45220, USA E-mail: sharmabr@mail.uc.edu
Subramanian Ramakrishnan*
Affiliation:
Center for Nonlinear Dynamics and Control, Villanova University, Villanova, PA 19085, USA
Manish Kumar
Affiliation:
Cooperative Distributed Systems Laboratory, Department of Mechanical, Industrial and Manufacturing Engineering, University of Toledo, Toledo, OH 43606, USA E-mail: Manish.Kumar2@utoledo.edu
*
*Corresponding author. E-mail: subramanian.ramakrishnan@villanova.edu
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Summary

We investigate the controlled realization of a stable circular pursuit model in a multi-agent robotic system described by double-integrator dynamics with homogeneous controller gains. The dynamic convergence of the system starting from a randomly chosen, non-overlapping initial configuration to a sustained, stable pursuit configuration satisfying velocity matching and uniform inter-agent separation is demonstrated using the proposed control framework. The cyclic pursuit configuration emerges from local, linear, inter-agent interactions and is shown to be robust under stochastic perturbations of small and moderate intensities. The stability criterion discussed in this work is independent of the number of agents, permitting dynamic addition/deletion of agents without affecting overall system stability. Experimental results that validate the key theoretical results are also presented. Potential applications of the results obtained include cooperative perimeter tracking and resource distribution applications such as border patrol and wildfire monitoring.

Keywords

Multi-robot systemsControl of robotic systemsRobot dynamicsAerial roboticsNovel applications of robotics
Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013 , pp. 1037 - 1050
Copyright
Copyright © Cambridge University Press 2013 

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