IEEE Trans Cybern. 2017 Dec;47(12):4062-4073. doi: 10.1109/TCYB.2016.2597100. Epub 2016 Aug 16.
In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots solve a tracking problem, that is following arbitrarily defined setpoint trajectories, in a coordinated manner. The control strategy proposed in this paper explicitly addresses the collision avoidance problem, utilizing a null space-based behavioral approach: this leads to combining, in a non conflicting manner, the tracking control law with a collision avoidance strategy. The combination of these control actions allows the robots to execute their task in a safe way. Avoidance of collisions is formally proven in this paper, and the proposed methodology is validated by means of simulations and experiments on real robots.
在本文中，我们提出了一种新的方法来实现多机器人系统中的复杂动态行为。具体来说，我们考虑将多机器人系统分为两个子组：1）从属机器人和 2）独立机器人。独立机器人用作控制输入，并且其运动受到控制，使得从属机器人以协调的方式解决跟踪问题，即跟随任意定义的设定点轨迹。本文提出的控制策略明确解决了避碰问题，利用基于零空间的行为方法：这导致以非冲突的方式将跟踪控制律与避碰策略相结合。这些控制动作的组合允许机器人以安全的方式执行任务。本文形式上证明了避碰的安全性，并通过在真实机器人上的仿真和实验验证了所提出的方法。
