Multi-robot cooperative control for monitoring and tracking dynamic plumes

Shuai Li, Yi Guo, Brian Bingham

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

72 Scopus citations

Abstract

We study robotic tracking of dynamic plume front modeled by the advection-diffusion equation in this paper. Different from existing work purely relying on gradient measurement, the transport model of pollution source is explicitly considered in tracking control design. We first study the problem using a single robot and solve the problem in an estimation and control framework. We then extend it to the multi-robot case in a nearest-neighbor communication structure, and have the robots take formation along the plume front. The distributed control is scalable to a large number of robots. Simulation results show satisfactory performances of the proposed method.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages67-73
Number of pages7
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - 22 Sep 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14

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