Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision 
Avoidance

Franchi, A; Stegagno, P; Oriolo, G

doi:10.1007/s10514-015-9450-3

Item

ITEM ACTIONSEXPORT

Add to Basket

Local TagsRelease HistoryDetailsSummary

Released

Journal Article

Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance

MPS-Authors

/persons/resource/persons83915

Franchi, A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons133440

Stegagno, P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

External Resource

Link
(Any fulltext)

Fulltext (restricted access)

There are currently no full texts shared for your IP range.

Fulltext (public)

There are no public fulltexts stored in PuRe

Supplementary Material (public)

There is no public supplementary material available

Citation

Franchi, A., Stegagno, P., & Oriolo, G. (2016). Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance. Autonomous Robots, 40(2), 245-265. doi:10.1007/s10514-015-9450-3.

Cite as: https://hdl.handle.net/21.11116/0000-0000-7A20-3

Abstract

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and only requires local communication among robots; in particular, each robot locally estimates all the relevant global quantities. We validate the proposed strategy through simulations on kinematic point robots and quadrotor UAVs, as well as experiments on differential-drive wheeled mobile robots.