Multi-Robot Systems
Springer Nature
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…
