Dynamic Leader Allocation in Multi-robot Systems Based on Nonlinear Model Predictive Control
This paper presents an approach to the dynamic leader selection problem in autonomous non-holonomic mobile robot formations when the current leader enters a failure state. Our method is based on a tree structure coupled with a modified version of the Nonlinear Model Predictive Control (NMPC) that al...
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| Veröffentlicht in: | Journal of intelligent & robotic systems 2020-05, Vol.98 (2), p.359-376 |
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| container_title | Journal of intelligent & robotic systems |
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| creator | Tavares, Augusto de Holanda B. M. Madruga, Sarah Pontes Brito, Alisson V. Nascimento, Tiago P. |
| description | This paper presents an approach to the dynamic leader selection problem in autonomous non-holonomic mobile robot formations when the current leader enters a failure state. Our method is based on a tree structure coupled with a modified version of the Nonlinear Model Predictive Control (NMPC) that allows for behavior change at the controller level. An explanation of the control algorithm, behavior selection, and leader selection structure is given, after which the results of both simulations and experiments using a three robot formation are shown and discussed. |
| doi_str_mv | 10.1007/s10846-019-01064-4 |
| format | Article |
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| source | Springer Nature - Complete Springer Journals |
| subjects | Algorithms Analysis Artificial Intelligence Computer simulation Control Control algorithms Control theory Electrical Engineering Embedded systems Engineering Mechanical Engineering Mechatronics Multiple robots Nonlinear control Nonlinear systems Predictive control Robotics Robotics industry Robots |
| title | Dynamic Leader Allocation in Multi-robot Systems Based on Nonlinear Model Predictive Control |
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