Title :
Simultaneous Control, Navigation and Target Tracking for Robotic Formations
Author :
Almeida, J.M. ; Martins, A. ; Silva, E.P. ; Pereira, F.L.
Author_Institution :
Lab. of Autonomous Syst., Instituto Superior de Engenharia do Porto
Abstract :
This paper describes a preliminary and innovative approach to integrated cooperative control and navigation of multi robots dynamic formations that encompasses the simultaneous tracking of opponent team players in robotic football games. Unlike traditional approaches that use self-localization to distribute object position estimates, a coordinated approach to cooperative formation navigation is proposed. The control architecture is based in a hierarchic hybrid systems approach, where distributed maneuvers allow simultaneous navigation and coordination. Our main contributions reside in an integrated control and navigation design framework yielding cooperative localization maneuvers and also some specific maneuver results on both formation estimation and global localization of two robots and two landmarks with bearing only measurements
Keywords :
centralised control; mobile robots; multi-robot systems; path planning; robot dynamics; cooperative localization maneuvers; distributed maneuvers; formation estimation; global localization; hierarchic hybrid systems approach; integrated control; integrated cooperative control; multi robots dynamic formations; navigation; opponent team players; robotic football games; simultaneous control; simultaneous tracking; target tracking; Intelligent systems; Navigation; Robots; Target tracking;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on
Conference_Location :
Heidelberg
Print_ISBN :
1-4244-0566-1
Electronic_ISBN :
1-4244-0567-X
DOI :
10.1109/MFI.2006.265677