Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots

A.-J.  Guel-Cortez; Eun-jin  Kim

doi:10.1007/978-3-030-82064-0_16

Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots

A.-J. Guel-Cortez, Eun-jin Kim

Research Centre for Fluid and Complex Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

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Abstract

In this work, a model reduction of a line robotic formation driven by simple PD-controllers is presented. The proposed mathematical model describes the control interactions between the agents which permits us to easily design a decentralised control strategy. To select the PD-controller gains for each agent, we employ a population-based algorithm that takes into consideration the formation stability analysis. Finally, we discuss the future work and the manner the proposed methodology can be used in more complex robotic scenarios.

Original language	English
Title of host publication	Recent Trends in Sustainable Engineering
Editors	Karen Lizbeth Flores Rodríguez, Raymundo Ramos Alvarado, Masoud Barati, Veronica Segovia Tagle, Roberto Sostrand Velázquez González
Publisher	Springer, Cham
Pages	197-207
Number of pages	11
ISBN (Electronic)	978-3-030-82064-0
ISBN (Print)	978-3-030-82063-3
DOIs	https://doi.org/10.1007/978-3-030-82064-0_16
Publication status	E-pub ahead of print - 4 Nov 2021
Event	International Conference on Applied Science and Advanced Technology: ICASAT 2021 - CICATA Queretaro, Queretaro, Mexico Duration: 2 Jun 2021 → 3 Jun 2021 https://icasat.com.mx/ http://www.icasat.com.mx

Publication series

Name	Lecture Notes in Networks and Systems
Volume	297
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	International Conference on Applied Science and Advanced Technology
Abbreviated title	iCASAT 2021
Country/Territory	Mexico
City	Queretaro
Period	2/06/21 → 3/06/21
Internet address	https://icasat.com.mx/ http://www.icasat.com.mx

Keywords

Multi-agent systems
Line formation
Evolutionary algorithms
Control design

Access to Document

10.1007/978-3-030-82064-0_16

Model_reduction_and_control_design_of_a_multi_agent_line_formation_of_mobile_robots_Accepted author manuscript, 1.27 MB

Cite this

Guel-Cortez, A.-J., & Kim, E. (2021). Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots. In K. L. F. Rodríguez, R. R. Alvarado, M. Barati, V. S. Tagle, & R. S. V. González (Eds.), Recent Trends in Sustainable Engineering (pp. 197-207). (Lecture Notes in Networks and Systems; Vol. 297). Springer, Cham . Advance online publication. https://doi.org/10.1007/978-3-030-82064-0_16

Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots. / Guel-Cortez, A.-J. ; Kim, Eun-jin .
Recent Trends in Sustainable Engineering . ed. / Karen Lizbeth Flores Rodríguez; Raymundo Ramos Alvarado; Masoud Barati; Veronica Segovia Tagle; Roberto Sostrand Velázquez González. Springer, Cham , 2021. p. 197-207 (Lecture Notes in Networks and Systems; Vol. 297).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Guel-Cortez, A-J & Kim, E 2021, Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots. in KLF Rodríguez, RR Alvarado, M Barati, VS Tagle & RSV González (eds), Recent Trends in Sustainable Engineering . Lecture Notes in Networks and Systems, vol. 297, Springer, Cham , pp. 197-207, International Conference on Applied Science and Advanced Technology, Queretaro, Mexico, 2/06/21. https://doi.org/10.1007/978-3-030-82064-0_16

Guel-Cortez, A.-J. ; Kim, Eun-jin . / Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots. Recent Trends in Sustainable Engineering . editor / Karen Lizbeth Flores Rodríguez ; Raymundo Ramos Alvarado ; Masoud Barati ; Veronica Segovia Tagle ; Roberto Sostrand Velázquez González. Springer, Cham , 2021. pp. 197-207 (Lecture Notes in Networks and Systems).

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Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots

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