A Cooperative Hunting Behavior by Mobile-Robot Troops
- 1 September 1999
- journal article
- other
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 18 (9), 931-940
- https://doi.org/10.1177/02783649922066664
Abstract
This paper presents a novel feedback-control law for coordinating the motion of multiple holonomic mobile robots to capture/enclose a target by making troop formations. This motion coordination is a cooperative behavior for security against invaders in surveillance areas. Each robot in this control law has its own coordinate system and it senses a target/invader, other robots and obstacles, to achieve this cooperative behavior without making any collision. Although there is no centralized controller and each robot has local feedback that is relative-position feedback, all the robots are asymptotically stabilized, and they make formations enclosing a target. Each robot especially has a vector referred to as a “formation vector,” and the formations are controllable by the vectors. As for determining the formation vectors, we use a reactive-control framework in which robots have some reactions heuristically designed according to this cooperative behavior. Therefore, this robotic system is a hybrid system that consists of a feedback-control law and a reactive-control framework. The validity of this hybrid system is supported by computer simulations.Keywords
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