Distributed Target Localization and Encirclement with a Multi-robot System

TitleDistributed Target Localization and Encirclement with a Multi-robot System
Publication TypeConference Paper
Year of Publication2010
AuthorsFranchi, A, Stegagno, P, Di Rocco, M, Oriolo, G
Conference Name7th IFAC Symposium on Intelligent Autonomous Vehicles
Date Published09/2010
Conference LocationLecce, Italy
KeywordsDecentralized control, Distributed algorithms, Estimation, Formation control, Multi-robot systems

This paper presents a control scheme for localizing and encircling a target using a multi-robot system. The task is achieved in a distributed way, in that each robot only uses local information gathered by on-board relative-position sensors assumed to be noisy, anisotropic, and unable to detect the identity of the measured object. Communication between the robots is provided by limited-range transceivers. Experimental results with stationary and Multi-robot systems, distributed control, mutual localization, encirclement.moving targets support the theoretical analysis.

Citation Key2010c-FraSteDirOri
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