Collective Motion of Multi-Agent Systems

This research line deals with the coordination of multi-agent systems. A decentralized control law for the collective circular motion is developed and its stability properties are analyzed. Practical issues like collision avoidance and the limited field of view of the sensors are explicitly taken into account. The proposed control law is validated on real robots. Additionally, a remote lab for experimenting with small LEGO vehicles is available.

You can find more information in the following publications or by watching these videos.

References

Circular motion of nonholonomic vehicles

N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2005). Collective circular motion of multi-vehicle systems with sensory limitations. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference.
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N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2008). Collective circular motion of multi-vehicle systems. Automatica.
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Experimental validation

N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2006). Experimental analysis of collective circular motion for multi-vehicle systems. Proceedings of the 8th International IFAC Symposium on Robot Control.
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D. Benedettelli, N. Ceccarelli, A. Garulli, A. Giannitrapani (2007). Experimental validation of a decentralized control law for multi-vehicle collective motion. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
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D. Benedettelli, M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2009). A LEGO Mindstorms experimental setup for multi-agent systems. Proceedings of the 3rd IEEE Multi-Conference on Systems and Control.
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D. Benedettelli, N. Ceccarelli, A. Garulli, A. Giannitrapani (2010). Experimental validation of collective circular motion for nonholonomic multi-vehicle systems. Robotics and Autonomous Systems.
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Remote lab for multi-agent systems

M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2009). A Matlab-based remote lab for multi-robot experiments. Proceedings of the 8th IFAC Symposium on Advances in Control Education.
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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2011). A LEGO Mindstorms multi-robot setup in the Automatic Control Telelab. Proceedings of the 18th IFAC World Congress.
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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2012). A remote lab for multi-robot experiments with virtual obstacles. Proceedings of the 9th IFAC Symposium on Advances in Control Education.
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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2013). Remote pursuer-evader experiments with mobile robots in the automatic control telelab. Proceedings of the 10th IFAC Symposium on Advances in Control Education.
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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2014). A remote lab for experiments with a team of mobile robots. Sensors.
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