Conference Paper

Entrapment/escorting and patrolling missions in multi-robot cluster space control

Robotic Syst. Lab., Santa Clara Univ., Santa Clara, CA, USA
DOI: 10.1109/IROS.2009.5354815 Conference: Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Source: IEEE Xplore

ABSTRACT The tasks of entrapping/escorting and patrolling around an autonomous target are presented making use of the multi-robot cluster space control approach. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems of limited size. Previous work has established the conceptual foundation of this approach and has experimentally verified and validated its use for 2-robot, 3-robot and 4-robot systems, with varying implementations ranging from automated trajectory control to human-in-the-loop piloting. In this publication, we show that the problem of entrapping/escorting/patrolling is trivial to define and manage from a cluster space perspective. Using a 3-robot experimental testbed, results are shown for the given tasks. We also revise the definition of the cluster space framework for a three-robot formation and incorporate a robot-level obstacle avoidance functionality.

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