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Collision-free stable polygon formation of multi-agent robots
Burohman A.M.a, Joelianto E.a, Widyotriatmo A.a
a Instrumentation and Control Research Group, Faculty of Industrial Technology, Institut Teknologi Bandung, Bandung, 40132, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2020, CESER Publications. All rights reserved.This paper presents a control design of multi-agent robot dynamic systems that drives multiple robots to move in a polygon formation while also avoiding collision with each other and possible obstacles. By placing the equilibrium of the system in a polygon formation configuration, the system succeeds to converge the robots’ individual configuration at surrounding of the center point of the polygon formation. To obtain a collective goal objective, a state of the center point as a target point is defined in which its dynamic is stable and converges to the goal point. By using a smooth repulsive potential function, the robots are guaranteed to be safe from collisions with other robots in the formation and with obstacles. When a robot is at far from obstacle edges, the multi-agent robots form a polygon formation. The proof of multi-agent robots forming a polygon formation is shown by using the Lyapunov method. Simulations are carried out to show that the multi-agent robots develop a polygon formation and avoids collisions with each other and a static obstacle. Another advantage of the proposed algorithm is when one robot cannot continue to follow the group formation, the multi-robot system is able to re-coordinate with the remaining number of agents.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Collision avoidance,Multi-agent robots,Polygon formation,Stability analysis[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][{‘$’: ‘This work was supported by the Ministry of Research, Technology, and Higher Education Republic of Indonesia and Institut Teknologi Bandung. This research was partially funded by USAID through the SHERA program ? Centre for Collaborative (CCR) National Center for Sustainable Transportation Technology (NCSTT) ? ITB with Contract No. IIE00000078-ITB-1.’}, {‘$’: ‘This work was supported by the Ministry of Research, Technology, and Higher Education Republic of Indonesia and Institut Teknologi Bandung. This research was partially funded by USAID through the SHERA program – Centre for Collaborative (CCR) National Center for Sustainable Transportation Technology (NCSTT) – ITB with Contract No. IIE00000078-ITB-1.’}][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]