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Multi-robot systems = coordinated fencing control and applications /

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Multi-robot systems/ by Bin-Bin Hu, Hai-Tao Zhang.
其他題名:	coordinated fencing control and applications /
作者:	Hu, Bin-Bin.
其他作者:	Zhang, Hai-Tao.
出版者:	Singapore :Springer Nature Singapore : : 2025.,
面頁冊數:	xiv, 200 p. :ill., digital ; : 24 cm.;
Contained By:	Springer Nature eBook
標題:	Multiagent systems. -
電子資源:	https://doi.org/10.1007/978-981-97-9214-6
ISBN:	9789819792146

Multi-robot systems = coordinated fencing control and applications /
Hu, Bin-Bin.

Multi-robot systemscoordinated fencing control and applications /[electronic resource] :by Bin-Bin Hu, Hai-Tao Zhang. - Singapore :Springer Nature Singapore :2025. - xiv, 200 p. :ill., digital ;24 cm. - Cognitive intelligence and robotics,2520-1964. - Cognitive intelligence and robotics..

Introduction to Coordinated Multi-Robot Fencing Control -- Distributed Fencing Control via Neighboring Angle Repulsion -- Distributed Fencing Control Via Input-To-State Stability -- Distributed Fencing Control via Ouput Regulation Theory -- Distributed Fencing Control via Long-Term Task Execution -- Coordinated Multiple-Target Fencing Control and Collision Avoidance -- Coordinated Multiple-Scattered-Targets Fencing via Flexible Subgrouping and Ordering -- Bearing-Only Fencing via Persistent-Exciting Condition -- Summary and Future Work.

Multi-robot coordinated fencing, where a team of robots forms a protective formation around a target, has garnered significant attention and proven useful in practical applications such as area convoying. However, real-world scenarios often involve complex target characteristics, including varying dynamics and multiple targets, which can pose challenges in maintaining the formation. Additionally, due to sensor costs and environmental constraints, robots may only have access to directional constraint information, presenting further challenges. This book highlights cooperative fencing approaches for multi-robot systems and their practical applications to different unmanned surface (ground) vehicles, providing an overview of research trends and future directions in coordinated fencing. Firstly, a basic fencing controller using neighboring angle repulsion for a constant-velocity target is designed, laying the groundwork for complex fencing missions. Then, for more complex fencing with an evenly rotating formation, a distributed controller is developed using input-to-state stability, achieving coordinated fencing under intermittently varying topologies. For more complex varying-velocity targets, a distributed fencing controller based on output regulation theory is proposed. For general target fencing missions in both 2D and 3D, a formal long-term task execution framework is developed using control barrier functions. Moreover, unlike previous methods that rely on the relative position between the robot and the target, a distributed bearing-only fencing control algorithm based on the persistent-excitation condition is developed, requiring only comparatively inexpensive sensors. Finally, this exploration into the theory and application of coordinated fencing control provides guidelines for robust, efficient, and complex practical implementations of multi-robot missions.

ISBN: 9789819792146

Standard No.: 10.1007/978-981-97-9214-6doiSubjects--Topical Terms:

745736
Multiagent systems.

LC Class. No.: QA76.76.I58 / .H8 2025

Dewey Class. No.: 006.30285436

Multi-robot systems = coordinated fencing control and applications /
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