References & Citations
Electrical Engineering and Systems Science > Systems and Control
Title: Multi-robot Implicit Control of Herds
(Submitted on 21 Oct 2020 (v1), last revised 13 Jun 2022 (this version, v3))
Abstract: This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics, escaping from the herders. Many applications demand the herding of numerous and/or heterogeneous entities, making the development of flexible control solutions challenging. In this context, our main contribution is a control approach that finds suitable herding actions even when the nonlinearities in the evaders' dynamics yield to implicit equations. We resort to numerical analysis theory to characterise the existence conditions of such actions and propose two design methods to compute them, one transforming the continuous time implicit system into an expanded explicit system, and the other applying a numerical method to find the action in discrete time. Simulations and real experiments validate the proposal in different scenarios.
Submission history
From: Eduardo Sebastián [view email][v1] Wed, 21 Oct 2020 11:08:07 GMT (7111kb,D)
[v2] Mon, 15 Mar 2021 12:30:23 GMT (6525kb,D)
[v3] Mon, 13 Jun 2022 02:59:33 GMT (6525kb,D)
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