Abstract
This paper studies distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. We investigate control strategies which use just bearing-only or range-only measurements and do not need inter-robot radio communication to share the measurements. For the bearing-only case, two control laws proposed in our previous study are recalled and adapted. For the range-only case, rendezvous control laws for a two-robot system are proposed first and it is shown analytically a two-robot system achieves rendezvous globally under these control laws. Then the range-only-based control laws are extended to multirobot systems. Monte Carlo simulations indicate that a multirobot system achieves practical convergence under the range-only-based control laws. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.
Highlights
Recent theoretical and technological advances have spurred a broad interest to develop practical multirobot systems [1,2,3,4,5]
Monte Carlo simulations The widely used Monte Carlo simulations were utilized to infer the convergence of the N-robot system under both Controllers 3e and 4e with connected interaction topology
We test the performance of Controller 3e under the connected topology of Figure 4
Summary
Recent theoretical and technological advances have spurred a broad interest to develop practical multirobot systems [1,2,3,4,5]. Navigation skill is one of their fundamental capabilities. Different navigation strategies are appropriate for different contexts. A problem of common interests and practical significance is how to perform tasks with less information and simpler sensors, such as using binary sensors, or using bearing-only or range-only sensors. This problem has attracted much attention in the multirobot community because an advantage of cooperation of teams of robots is that simple agents are able to perform complex tasks through mutual cooperation
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