Multi-Robot System for Tracking and Surrounding a Stationary Target: A Decentralized and Cooperative Approach

Author(s)

Botelho, Wagner Tanaka ; Bruno Marietto, Maria das Gracas ; Mendes, Eduardo de Lima ; da Motta Ferreira, Joao Carlos ; Pimentel, Edson Pinheiro ; da Silva, Vera Lucia ; IEEE

• Document type: Journal article
• Source: 2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017); v. N/A, p. 6-pg., 2017-01-01.

Abstract

Multi-Robot System (MRS) is composed of a group of robots that work cooperatively. This paper proposed a decentralized MRS for tracking and surrounding a stationary target. Currently, there are few studies related to a decentralized MRS, since most works are centralized. The robotic agents are homogeneous and hybrid with reactive and cognitive characteristics. The MRS has been implemented and validated in the robot simulator called Virtual Robot Experimentation Platform (V-Rep). In the validation, a scenario with three robots and a stationary target were defined. However, MRS is able to track and surround with n robots. In the tracking task, the robot can detect the target whose position is not known a priori. The obstacle avoidance should be considered in this task because robots and walls are obstacles and should be avoided. When the detection occurs, the V-Rep informs the target position to the robot because the environment is discretized into a grid of rectangular cells. After that, all the robots are directed to the target and the surround task is realized. In this task, a mathematical model with directs communication between the robots is defined to keep the robots equidistant therefrom and from each other. (AU)

• FAPESP's process: 15/02301-3 - TB-Horse: development of a bio-inspired Quadruped robot prototype for rough terrain
• Grantee: Wagner Tanaka Botelho
• Support Opportunities: Regular Research Grants
• FAPESP's process: 13/17929-2 - Simulation study on bio-inspired mobile robots and Multi-Robots systems in the development of CAD-3D models
• Grantee: Eduardo de Lima Mendes
• Support Opportunities: Scholarships in Brazil - Scientific Initiation