Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment
We consider an autonomous and decentralized mobile robotic swarm that does not require an advanced communication system; moreover, each robot must pass a narrow space preserving the distance with other robots. The control barrier function (CBF) method is useful for robotic swarms to guarantee collis...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-03-01
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| Series: | Symmetry |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2073-8994/13/3/478 |
| _version_ | 1797541320748695552 |
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| author | Yuki Origane Yuya Hattori Daisuke Kurabayashi |
| author_facet | Yuki Origane Yuya Hattori Daisuke Kurabayashi |
| author_sort | Yuki Origane |
| collection | DOAJ |
| description | We consider an autonomous and decentralized mobile robotic swarm that does not require an advanced communication system; moreover, each robot must pass a narrow space preserving the distance with other robots. The control barrier function (CBF) method is useful for robotic swarms to guarantee collision avoidance. However, introducing CBF inequalities can cancel other objectives and sometimes causes a deadlock problem. Therefore, we introduce a coupled oscillator system to generate asymmetric global order by itself to avoid deadlock. By generating an effective global order in the swarm, each robot adequately moves to a target position without requiring high-cost communication systems. |
| first_indexed | 2024-03-10T13:13:18Z |
| format | Article |
| id | doaj.art-35d72dd13c904bcab0b2f6b8479a638f |
| institution | Directory Open Access Journal |
| issn | 2073-8994 |
| language | English |
| last_indexed | 2024-03-10T13:13:18Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Symmetry |
| spelling | doaj.art-35d72dd13c904bcab0b2f6b8479a638f2023-11-21T10:33:33ZengMDPI AGSymmetry2073-89942021-03-0113347810.3390/sym13030478Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded EnvironmentYuki Origane0Yuya Hattori1Daisuke Kurabayashi2School of Engineering, Department of Systems and Control Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo 152-8550, JapanSchool of Engineering, Department of Systems and Control Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo 152-8550, JapanSchool of Engineering, Department of Systems and Control Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo 152-8550, JapanWe consider an autonomous and decentralized mobile robotic swarm that does not require an advanced communication system; moreover, each robot must pass a narrow space preserving the distance with other robots. The control barrier function (CBF) method is useful for robotic swarms to guarantee collision avoidance. However, introducing CBF inequalities can cancel other objectives and sometimes causes a deadlock problem. Therefore, we introduce a coupled oscillator system to generate asymmetric global order by itself to avoid deadlock. By generating an effective global order in the swarm, each robot adequately moves to a target position without requiring high-cost communication systems.https://www.mdpi.com/2073-8994/13/3/478robotic swarmcollision avoidancecontrol barrier functioncoupled oscillator systemobstacle region |
| spellingShingle | Yuki Origane Yuya Hattori Daisuke Kurabayashi Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment Symmetry robotic swarm collision avoidance control barrier function coupled oscillator system obstacle region |
| title | Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment |
| title_full | Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment |
| title_fullStr | Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment |
| title_full_unstemmed | Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment |
| title_short | Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment |
| title_sort | control input design for a robot swarm maintaining safety distances in crowded environment |
| topic | robotic swarm collision avoidance control barrier function coupled oscillator system obstacle region |
| url | https://www.mdpi.com/2073-8994/13/3/478 |
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