Citation
Shuhei Emoto, Ilge Akkaya, Edward A. Lee. "Information Seeking of a Robot Swarm based on Robust Model Predictive Control". The Robotics and Mechatronics Conference 2016 in Yokohama, Robotics and Mechatronics Division, The Japan Society of Mechanical Engineers (eds.), 8, June, 2016.

Abstract
In this paper, we propose a cooperative multi-robot control system, operating in dynamic and uncertain environments. We focus on a robust model predictive control (robust MPC) framework that enables robotic agents to operate in uncertain environments. The proposed system includes multiple observation robots that gather information cooperatively as well as a main robot controlled by the robust MPC. Therefore, the system works for not only treating the uncertainty but also decreasing it so that the performance of the robust MPC can be improved. We carry out a Monte Carlo simulation of a multi-robot collision avoidance scenario and analyze a required time for the main robot to arrive at the goal. Simulation results show that the information acquisition by the observation robots enables the main robot to move efficiently and arrive at the goal faster than a case without the observation robots.

Electronic downloads

• EmotoEtAl_MPC_Robomech_2016.pdf · application/x-octet-stream · 1091 kbytes

• HTML

  Shuhei Emoto, Ilge Akkaya, Edward A. Lee. <a
  href="http://chess.eecs.berkeley.edu/pubs/1170.html"
  >Information Seeking of a Robot Swarm based on Robust
  Model Predictive Control</a>, The Robotics and
  Mechatronics Conference 2016 in Yokohama, Robotics and
  Mechatronics Division, The Japan Society of Mechanical
  Engineers (eds.), 8, June, 2016.

• Plain text

  Shuhei Emoto, Ilge Akkaya, Edward A. Lee. "Information
  Seeking of a Robot Swarm based on Robust Model Predictive
  Control". The Robotics and Mechatronics Conference 2016
  in Yokohama, Robotics and Mechatronics Division, The Japan
  Society of Mechanical Engineers (eds.), 8, June, 2016.

• BibTeX

  @inproceedings{EmotoAkkayaLee16_InformationSeekingOfRobotSwarmBasedOnRobustModelPredictive,
      author = {Shuhei Emoto and Ilge Akkaya and Edward A. Lee},
      title = {Information Seeking of a Robot Swarm based on
                Robust Model Predictive Control},
      booktitle = {The Robotics and Mechatronics Conference 2016 in
                Yokohama},
      editor = {Robotics and Mechatronics Division, The Japan
                Society of Mechanical Engineers},
      day = {8},
      month = {June},
      year = {2016},
      abstract = {In this paper, we propose a cooperative
                multi-robot control system, operating in dynamic
                and uncertain environments. We focus on a robust
                model predictive control (robust MPC) framework
                that enables robotic agents to operate in
                uncertain environments. The proposed system
                includes multiple observation robots that gather
                information cooperatively as well as a main robot
                controlled by the robust MPC. Therefore, the
                system works for not only treating the uncertainty
                but also decreasing it so that the performance of
                the robust MPC can be improved. We carry out a
                Monte Carlo simulation of a multi-robot collision
                avoidance scenario and analyze a required time for
                the main robot to arrive at the goal. Simulation
                results show that the information acquisition by
                the observation robots enables the main robot to
                move efficiently and arrive at the goal faster
                than a case without the observation robots.},
      URL = {http://chess.eecs.berkeley.edu/pubs/1170.html}
  }
  

Posted by Mary Stewart on 21 Mar 2016.
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