Abstract
In multi-robot applications, consensus control and coordination are vital and potentially repetitive tasks. To circumvent practical limitations such as a global localization system, researchers have focused on bearing-based consensus controllers, but most assumed that measurements from sensors (e.g. vision) are noise-free. In this paper, we propose to use wireless signal measurements to estimate the direction of arrival (relative bearings) of neighboring robots and introduce a weighted bearing consensus controller to achieve coordinate-free distributed multi-robot rendezvous. We prove that the proposed controller guarantees connectivity maintenance and convergence even in the presence of measurement noise. We conduct extensive numerical simulation experiments using the Robotarium multi-robot platform to verify and demonstrate the properties of the proposed controller and to compare the performance of the rendezvous task against several state-of-the-art rendezvous controllers.
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BibTeX (Download)
@conference{Parasuraman2018,
title = {Consensus Control of Distributed Robots Using Direction of Arrival of Wireless Signals},
author = {Ramviyas Parasuraman and Byung-Cheol Min.},
url = {https://www.youtube.com/watch?v=6BkFrJ8vceg&feature=youtu.be},
year = {2018},
date = {2018-10-15},
abstract = {In multi-robot applications, consensus control and coordination are vital and potentially repetitive tasks. To circumvent practical limitations such as a global localization system, researchers have focused on bearing-based consensus controllers, but most assumed that measurements from sensors (e.g. vision) are noise-free. In this paper, we propose to use wireless signal measurements to estimate the direction of arrival (relative bearings) of neighboring robots and introduce a weighted bearing consensus controller to achieve coordinate-free distributed multi-robot rendezvous. We prove that the proposed controller guarantees connectivity maintenance and convergence even in the presence of measurement noise. We conduct extensive numerical simulation experiments using the Robotarium multi-robot platform to verify and demonstrate the properties of the proposed controller and to compare the performance of the rendezvous task against several state-of-the-art rendezvous controllers.},
keywords = {control, multi-robot, networking, robotics},
pubstate = {published},
tppubtype = {conference}
}