Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance

Abstract : We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the en-circlement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and only requires local communication among robots; in particular, each robot locally estimates all the relevant global quantities. We validate the proposed strategy through simulations on kinematic point robots and quadrotor UAVs, as well as experiments on differential-drive wheeled mobile robots.
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Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo. Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance. Autonomous Robots, Springer Verlag, 2016, 40 (2), pp.245-265. ⟨10.1007/s10514-015-9450-3⟩. ⟨hal-01228807⟩

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