Dynamic Position Estimation and Flocking Control in Multi-Robot Systems

Jonatan Alvarez; Assia Belbachir

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Paper

Dynamic Position Estimation and Flocking Control in Multi-Robot Systems

Topics: Guidance, Navigation and Control; Networked Control; Perception and Awareness; Vehicle Control Applications

In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 269-276, 2024 , Porto, Portugal

Authors: Jonatan Alvarez ¹ and Assia Belbachir ²

Affiliations: ¹ IPSA, 63 Bd de Brandebourg, Ivry-sur-Seine, France ; ² NORCE, Grimstad, Norway

Keyword(s): AVT, Networked Control, Flocking, Terrestrial Robots.

Abstract: This paper presents a novel approach to improve flocking algorithms for terrestrial Multi-Robot Systems (MRS) featuring defective or inaccurate sensors by using the Adaptive Value Tracking (AVT) algorithm. The idea behind the usage of the AVT is to estimate the positions of robots with poor GPS connectivity. Such estimation is then furnished as an input for the flocking controller, which is a method ensuring the movement even when some robots lack of GPS data. The proposed framework is tested in simulation using several robots, and found that the AVT effectively preserves accurate positioning and consequently flocking behavior.

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Paper citation in several formats:

Alvarez, J. and Belbachir, A. (2024). Dynamic Position Estimation and Flocking Control in Multi-Robot Systems. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7; ISSN 2184-2809, SciTePress, pages 269-276. DOI: 10.5220/0012927200003822

@conference{icinco24,
author={Jonatan Alvarez and Assia Belbachir},
title={Dynamic Position Estimation and Flocking Control in Multi-Robot Systems},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={269-276},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012927200003822},
isbn={978-989-758-717-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Dynamic Position Estimation and Flocking Control in Multi-Robot Systems
SN - 978-989-758-717-7
IS - 2184-2809
AU - Alvarez, J.
AU - Belbachir, A.
PY - 2024
SP - 269
EP - 276
DO - 10.5220/0012927200003822
PB - SciTePress