Controlling many differential-drive robots with uniform control inputs. (November 2014)

• Record Type: Journal Article
• Authors: Becker, Aaron; Onyuksel, Cem; Bretl, Timothy; McLurkin, James
• Is Part Of: International journal of robotics research. Volume 33:Number 13(2014:Nov.)
• Page Start: 1626
• Page End: 1644
• Publication Date: 2014-11
• Subjects: Ensemble control -- micro/nano robots -- path planning for multiple mobile robot systems -- nonholonomic motion planning -- underactuated robots -- telerobotics -- multi-agent control -- uniform inputs; Robots -- Periodicals; Robots, Industrial -- Periodicals; 629.89205
• DOI: 10.1177/0278364914543481
• Languages: English
• ISSNs: 0278-3649

Abstract

This paper derives both open-loop and closed-loop control policies that steer a finite set of differential-drive robots to desired positions in a two-dimensional workspace, when all robots receive the same control inputs but each robot turns at a slightly different rate. In the absence of perturbation, the open-loop policy achieves zero error in finite time. In the presence of perturbation, the closed-loop policy is globally asymptotically stabilizing with state feedback. Both policies were validated with hardware experiments using up to 15 robots. These experimental results suggest that similar policies might be applied to control micro- and nanoscale robotic systems, which are often subject to similar constraints.