Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution
In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments. Particularly, by designing target-approaching and sensing-neighbor coll...
| Main Authors: | , , , , |
|---|---|
| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/175837 |
| _version_ | 1811686860859113472 |
|---|---|
| author | Hu, Bin-Bin Zhou, Yanxin Wei, Henglai Wang, Yan Lv, Chen |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Hu, Bin-Bin Zhou, Yanxin Wei, Henglai Wang, Yan Lv, Chen |
| author_sort | Hu, Bin-Bin |
| collection | NTU |
| description | In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments. Particularly, by designing target-approaching and sensing-neighbor collision-free subtasks, and incorporating these subtasks into the constraints rather than the traditional cost function in an online constraint-based optimization framework, the proposed LTTE can systematically guarantee long-term target convoying under changing environments in the n-dimensional Euclidean space. Then, the introduction of slack variables allows for the constraint violation of different subtasks; i.e., the attraction from target-approaching constraints and the repulsion from time-varying collision-avoidance constraints, which results in the desired formation with arbitrary spatial ordering sequences. Rigorous analysis is provided to guarantee asymptotical convergence with challenging nonlinear couplings induced by time-varying collision-free constraints. Finally, 2D experiments using three autonomous mobile robots (AMRs) are conducted to validate the effectiveness of the proposed algorithm, and 3D simulations tackling changing environmental elements, such as different initial positions, some robots suddenly breakdown and static obstacles are presented to demonstrate the multi-dimensional adaptability, robustness and the ability of obstacle avoidance of the proposed method. |
| first_indexed | 2024-10-01T05:07:08Z |
| format | Journal Article |
| id | ntu-10356/175837 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:07:08Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1758372024-05-08T01:07:03Z Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution Hu, Bin-Bin Zhou, Yanxin Wei, Henglai Wang, Yan Lv, Chen School of Mechanical and Aerospace Engineering Engineering Target convoying Ordering-flexible coordination In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments. Particularly, by designing target-approaching and sensing-neighbor collision-free subtasks, and incorporating these subtasks into the constraints rather than the traditional cost function in an online constraint-based optimization framework, the proposed LTTE can systematically guarantee long-term target convoying under changing environments in the n-dimensional Euclidean space. Then, the introduction of slack variables allows for the constraint violation of different subtasks; i.e., the attraction from target-approaching constraints and the repulsion from time-varying collision-avoidance constraints, which results in the desired formation with arbitrary spatial ordering sequences. Rigorous analysis is provided to guarantee asymptotical convergence with challenging nonlinear couplings induced by time-varying collision-free constraints. Finally, 2D experiments using three autonomous mobile robots (AMRs) are conducted to validate the effectiveness of the proposed algorithm, and 3D simulations tackling changing environmental elements, such as different initial positions, some robots suddenly breakdown and static obstacles are presented to demonstrate the multi-dimensional adaptability, robustness and the ability of obstacle avoidance of the proposed method. Agency for Science, Technology and Research (A*STAR) Ministry of Education (MOE) Nanyang Technological University This work was supported in part by the StartUp Grant-Nanyang Assistant Professorship Grant of Nanyang Technological University, in part by the Agency for Science, Technology and Research (A*STAR), Singapore, under Advanced Manufacturing and Engineering (AME) Young Individual Research under Grant A2084c0156, in part by the MTC Individual Research under Grant M22K2c0079, in part by the ANR-NRF Joint Grant NRF2021-NRF-ANR003 HM Science, and in part by the Ministry of Education (MOE), Singapore, under the Tier 2 Grant MOE-T2EP50222-0002. 2024-05-08T01:07:03Z 2024-05-08T01:07:03Z 2024 Journal Article Hu, B., Zhou, Y., Wei, H., Wang, Y. & Lv, C. (2024). Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution. Automatica, 163, 111558-. https://dx.doi.org/10.1016/j.automatica.2024.111558 0005-1098 https://hdl.handle.net/10356/175837 10.1016/j.automatica.2024.111558 2-s2.0-85183964763 163 111558 en NAP SUG A2084c0156 M22K2c0079 NRF2021-NRF-ANR003 HM Science MOE-T2EP50222-0002 Automatica © 2024 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering Target convoying Ordering-flexible coordination Hu, Bin-Bin Zhou, Yanxin Wei, Henglai Wang, Yan Lv, Chen Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution |
| title | Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution |
| title_full | Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution |
| title_fullStr | Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution |
| title_full_unstemmed | Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution |
| title_short | Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution |
| title_sort | ordering flexible multi robot coordination for moving target convoying using long term task execution |
| topic | Engineering Target convoying Ordering-flexible coordination |
| url | https://hdl.handle.net/10356/175837 |
| work_keys_str_mv | AT hubinbin orderingflexiblemultirobotcoordinationformovingtargetconvoyingusinglongtermtaskexecution AT zhouyanxin orderingflexiblemultirobotcoordinationformovingtargetconvoyingusinglongtermtaskexecution AT weihenglai orderingflexiblemultirobotcoordinationformovingtargetconvoyingusinglongtermtaskexecution AT wangyan orderingflexiblemultirobotcoordinationformovingtargetconvoyingusinglongtermtaskexecution AT lvchen orderingflexiblemultirobotcoordinationformovingtargetconvoyingusinglongtermtaskexecution |