SYSTEMATIC APPROACH FOR ROLE ASSIGNMENT IN MOBILE ROBOTS USING LEADER–FOLLOWER APPROACH: EXPERIMENTAL OBSERVATIONS

Madhevan Balasundaram and Sreekumar Muthuswamy

References

  1. [1] S. Abeyruwan, A. Seekircher, and U. Visser, Dynamic roleassignment using general value functions, IEEE HumanoidRobots, Osaka, Japan, November 2012.
  2. [2] P. MacAlpine, F. Barrera, and P. Stone, Positioning to win:A dynamic role assignment and formation positioning system,in P. Stone (ed.) RoboCup 2012. LNCS (LNAI), (Berlin:Springer, 2013), 190–201.
  3. [3] K. Jong-Hwan, and V. Prahlad, Multi-agent systems: A surveyfrom the robot-soccer perspective, Advanced Robotics, 6(1),2000, 3–17.
  4. [4] W. Chen, and T. Chen, Multi-robot dynamic role assignmentbased on path cost, Proc. Chinese Control and DecisionConference, Mianyang, China, 2011, 3721–3724.
  5. [5] N. Lau, L.S. Lopes, G. Corrente, and N. Filipe, Multi-robotteam coordination through roles, positioning and coordinatedprocedures, Proc. IEEE/RSJ Int. Conf. Intelligent Robots andSystems, St. Louis, USA, October 2009, 5841–5848.
  6. [6] V. Frias-Martinez, E. Sklar, and S. Parsons, Exploring auctionmechanisms for role assignment in teams of autonomous robots,RoboCup 2004: Robot Soccer World Cup VIII, N. Daniele,R. Martinand, S. Claude, and Santos-Victor (eds.), SpringerBerlin Heidelberg, 2004, 532–539.
  7. [7] D. Vail, M. Veloso, A. Schultz, L. Parker, and F. Schneider,Multi-robot dynamic role assignment and coordination throughshared potential fields, Multi-Robot Systems, A. Schultz, L.Parker, and F. Schneider (eds.), Kluwer, 2003, 1–6.
  8. [8] A. Yazici, A. Sipahioglu, and O. Parlaktuna, Heuristic-baseddynamic route planning method for a homogeneous multi-robotteam, Advanced Robotics, 23(3), 2009, 269–287.
  9. [9] L. Chaimowicz, V. Kumar, and M. Campos, A mechanism fordynamic coordination of multiple robots, Autonomous Robots,17(1), 2004, 7–21.
  10. [10] Y. Zhang, J. Park, and K. Chong, Model algorithm control forpath tracking of wheeled mobile robots, International Journalof Precision Engineering and Manufacturing, 11(5), 2010,705–714.
  11. [11] H. Yuan, and T. Shim, Model based real-time collision-freemotion planning for nonholonomic mobile robots in unknowndynamic environments, International Journal of PrecisionEngineering and Manufacturing, 14(3), 2013, 359–365.
  12. [12] Y.G. Kim, J.H. Kwak, D.H. Hong, I.H. Kim, D.H. Shin,and J. An, Autonomous terrain adaptation and user-friendlyteleoperation of wheel-track hybrid mobile robot, InternationalJournal of Precision Engineering and Manufacturing, 13(10),2012, 1781–1788.
  13. [13] E.A. Macdonald, Multi-robot assignment and formation con-trol, M.Sc. Thesis, Georgia Institute of Technology, Atlanta,GA, USA, 7 June 2011.
  14. [14] J. Huang, S.M. Farritor, A. Qadi, S. Goddard, Localizationand follow the leader control of a heterogeneous group of mobilerobots, IEEE/ASME Transactions on Mechatronics 11, 2006,205–215.
  15. [15] H. Mehrjerdi, M. Saad, M.J. Ghommam, Hierarchical fuzzycooperative control and path following for a team of mobilerobots, IEEE/ASME Transactions on Mechatronics 16, 2011,907–917.
  16. [16] L.E. Parker, ALLIANCE: An architecture for fault tolerantmultirobot cooperation, IEEE Transactions on Robotics andAutomation, 14(2), 1998, 220–240.
  17. [17] Y.T. Wang, and Y.C. Chen, Multiple-Obstacle Avoidance inRole Assignment of Formation control, International Journalof Robotics and Automation, 27(2), 2012, 177–184
  18. [18] M.H. Amoozgar, S.H. Sadati, and K. Alipour, Trajectorytracking of wheeled mobile robots controller, InternationalJournal of Robotics and Automation, 27(1), 2012, 49–56.
  19. [19] Hui Z. Zhang, Shan Y. Xiong, and Yue Liu, Real-time pathplanning of multiple mobile robots in a dynamic certain environment, International Journal of Robotics and Automation,28(1), 2013, DOI: 10.2316/Journal.206.2013.1.206-3627.
  20. [20] Yan Zhuang, Ke Wang, Wei Wang, and Huosheng Hu, Ahybrid sensing approach to mobile robot localization in complexindoor environments, International Journal of Robotics andAutomation, 27(2), 2012, 198–205.
  21. [21] X. Yang, J. Wang, and Y. Tan, Robustness analysis of leader–follower consensus for multi-agent systems characterized bydouble integrators, Systems & Control Letters, 61(11), 2012,1103–1115.
  22. [22] W. Yu, G. Chen, and M. Cao, Distributed leader-followerflocking control for multi-agent dynamical systems with time-varying velocities, Systems & Control Letters, 59(9), 2010,543–552.
  23. [23] B. Madhevan, and M. Sreekumar, Tracking algorithm usingleader follower approach for multi-robots, Procedia Engineering, 64, 2013, 1426–1435.
  24. [24] B. Madhevan, and M. Sreekumar, A systematic implementation of role assignment in multi robots using leader followerapproach: analytical and experimental evaluation, 13th Int.Conf. Control, Automation, Robotics and Vision (ICARCV2014), Singapore, December 2014.
  25. [25] B. Madhevan and M. Sreekumar, Analysis of communicationdelay and packet loss during localization among multi mobilerobots using leader follower approach, Advances in IntelligentSystems and Computing, (385), 2014, 3–12.
  26. [26] B. Madhevan and M. Sreekumar, Implementation of role assignment and fault tree analysis for multi robot interaction,International Journal of Robotics and Automation, 2015 (Ac-cepted: Under publication).

Important Links:

Go Back