Three-Dimensional Rendezvous Controls of Multiple Robots with Amplitude-Only Measurements in Cluttered Underwater Environments
Source abstract
Abstract
This study addresses multi-robot distributed rendezvous controls in cluttered underwater environments with many unknown obstacles. In underwater environments, a Unmanned Underwater Vehicle (UUV) cannot localize itself, since a Global Positioning System (GPS) is not available. Assume that each UUV has multiple signal intensity sensors surrounding it. Multiple intensity sensors on a UUV can only measure the amplitude of signals generated from its neighbor UUVs. We prove that multiple UUVs with bounded speed converge to a designated rendezvous point, while maintaining the connectivity of the communication network. This study further discusses a fault detection method, which detects faulty UUVs based on local sensing measurements. In addition, the proposed rendezvous control is adaptive to communication link failure or invisible UUVs. Note that communication link failure or invisible UUVs can happen due to unknown obstacles in the workspace. As far as we know, our study is novel in developing 3D coordinate-free distributed rendezvous control, considering underwater robots that can only measure the amplitude of signals emitted from neighboring robots. The proposed rendezvous algorithms are provably complete, and the effectiveness of the proposed rendezvous algorithms is demonstrated under MATLAB simulations.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Distributed Control Multi-Agent Systems · Indoor and Outdoor Localization Technologies
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
System Engineering Department, Sejong University, Seoul 05006, Republic of Korea
Funding
National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) · faculty research fund of Sejong university in 2023
References (65)
Show source-provided references
1. Motion control of multiple autonomous ships to approach a target without being detected10.1177/1729881418763184 ↗
2. Cooperative Exploration and Protection of a Workspace Assisted by Information Networks10.1007/s10472-013-9383-5 ↗
3. Capturing intruders based on Voronoi diagrams assisted by information networks10.1177/1729881416682693 ↗
4. Cooperative Exploration and Networking While Preserving Collision Avoidance10.1109/TCYB.2016.2594500 ↗
5. Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions10.1109/TAC.2006.878713 ↗
6. Roza, A., Maggiore, M., and Scardovi, L. (2014, January 15–17). A class of rendezvous controllers for underactuated thrust-propelled rigid bodies. Proceedings of the IEEE International Conference on Decision and Control, Los Angeles, CA, USA.10.1109/CDC.2014.7039636 ↗
7. Park, H., and Hutchinson, S. (2014, January 14–18). A distributed optimal strategy for rendezvous of multi-robots with random node failures. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Chicago, IL, USA.10.1109/IROS.2014.6942703 ↗
8. Concurrent rendezvous control of underactuated spacecraft10.1016/j.actaastro.2017.05.003 ↗
9. Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring10.3389/frobt.2019.00076 ↗
10. Wei, C., Li, C., and Tanner, H.G. (2018, January 27–29). Synchronous Rendezvous for Periodically Orbiting Vehicles with Very-Low-Range Interactions. Proceedings of the 2018 Annual American Control Conference (ACC), Milwaukee, WU, USA.10.23919/ACC.2018.8431784 ↗
11. Wei, C., Tanner, H.G., Yu, X., and Hsieh, M.A. (2019, January 10–12). Low-Range Interaction Periodic Rendezvous Along Lagrangian Coherent Structures. Proceedings of the 2019 American Control Conference (ACC), Philadelphia, PA, USA.10.23919/ACC.2019.8814995 ↗
12. 3U: Joint Design of UAV-USV-UUV Networks for Cooperative Target Hunting10.1109/TVT.2022.3220856 ↗
13. A Class of Bounded Distributed Control Strategies for Connectivity Preservation in Multi-Agent Systems10.1109/TAC.2010.2072570 ↗
14. Dimarogonas, D.V., and Johansson, K.H. (2008, January 19–23). Decentralized connectivity maintenance in mobile networks with bounded inputs. Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA.10.1109/ROBOT.2008.4543415 ↗
15. Consensus of flocks under M-nearest-neighbor rules10.1007/s11424-015-3048-x ↗
16. A highly stable and efficient spherical underwater robot with hybrid propulsion devices10.1007/s10514-019-09895-8 ↗
17. Prasad, B., Agrawal, A., Viswanathan, V., Chowdhury, A.R., Kumar, R., and Panda, S.K. (2015, January 23–25). A visually guided spherical underwater robot. Proceedings of the 2015 IEEE Underwater Technology (UT), Chennai, India.10.1109/UT.2015.7108300 ↗
18. Underwater motion characteristics evaluation of multi amphibious spherical robots10.1007/s00542-018-3986-z ↗
19. The communication and stability evaluation of amphibious spherical robots10.1007/s00542-018-4223-5 ↗
20. Study on formation control system for underwater spherical multi-robot10.1007/s00542-018-4173-y ↗
21. Hydrodynamic Analysis of the Spherical Underwater Robot SUR-II10.5772/56524 ↗
22. A decoupling three-dimensional motion control algorithm for spherical underwater robot
23. Lin, J., Yang, X., Zheng, P., and Cheng, H. (2019, January 4–7). End-to-end Decentralized Multi-robot Navigation in Unknown Complex Environments via Deep Reinforcement Learning. Proceedings of the 2019 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China.10.1109/ICMA.2019.8816208 ↗
24. Hu, J., Sun, J., Zou, Z., Ji, D., and Xiong, Z. (2020, January 6–10). Distributed multi-robot formation control under dynamic obstacle interference. Proceedings of the 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA.10.1109/AIM43001.2020.9158809 ↗
25. Multi-robot formation control and object transport in dynamic environments via constrained optimization10.1177/0278364917719333 ↗
26. Tracking Controllers to Chase a Target Using Multiple Autonomous Underwater Vehicles Measuring the Sound Emitted From the Target10.1109/TSMC.2019.2943822 ↗
27. Multirobot Rendezvous Planning for Recharging in Persistent Tasks10.1109/TRO.2014.2380593 ↗
28. Zhang, B., Wang, H., Xu, T., Zheng, L., and Yang, Q. (2016, January 10–13). Received signal strength-based underwater acoustic localization considering stratification effect. Proceedings of the OCEANS 2016, Shanghai, China.10.1109/OCEANSAP.2016.7485561 ↗
29. A passivity-based decentralized strategy for generalized connectivity maintenance10.1177/0278364912469671 ↗
30. Distributed Control of Multirobot Systems with Global Connectivity Maintenance10.1109/TRO.2013.2267971 ↗
31. Connectivity Preservation in Nonholonomic Multi-Agent Systems: A Bounded Distributed Control Strategy10.1109/TAC.2013.2251792 ↗
32. Gong, C., Tully, S., Kantor, G., and Choset, H. (2012, January 14–18). Multi-agent deterministic graph mapping via robot rendezvous. Proceedings of the Robotics and Automation (ICRA), 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, USA.10.1109/ICRA.2012.6225274 ↗
33. Practical multiagent rendezvous through modified circumcenter algorithms10.1016/j.automatica.2009.05.013 ↗
34. Park, H., and Hutchinson, S. (2016, January 16–21). An efficient algorithm for fault-tolerant rendezvous of multi-robot systems with controllable sensing range. Proceedings of the Robotics and Automation (ICRA), 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden.10.1109/ICRA.2016.7487153 ↗
35. Distributed Model Predictive Control for Linear-Quadratic Performance and Consensus State Optimization of Multiagent Systems10.1109/TCYB.2020.3001347 ↗
36. Rendezvous with Connectivity Preservation Problem of Linear Multiagent Systems via Parallel Event-Triggered Control Strategies10.1109/TCYB.2020.3021788 ↗
37. Event-Triggered Control for Multi-Agent Systems: Event Mechanisms for Information Transmission and Controller Update10.1007/s11424-021-0200-7 ↗
38. Yi, X., Liu, K., Dimarogonas, D.V., and Johansson, K.H. (2017, January 12–15). Distributed dynamic event-triggered control for multi-agent systems. Proceedings of the 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Melbourne, Australia.10.1109/CDC.2017.8264666 ↗
39. Multirobot rendezvous with bearing-only or range-only measurements10.1186/s40638-014-0004-5 ↗
40. Sabelhaus, A.P., Mirsky, D., Hill, L.M., Martins, N.C., and Bergbreiter, S. (2013, January 6–10). TinyTeRP: A Tiny Terrestrial Robotic Platform with modular sensing. Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.10.1109/ICRA.2013.6630933 ↗
41. Cho, C., and Kim, J. (2022). Robust Distributed Rendezvous Using Multiple Robots with Variable Range Radars. Appl. Sci., 12.10.3390/app12178535 ↗
42. Fossen, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley and Sons.
43. Douglas, B.W. (2001). Introduction to Graph Theory, Prentice Hall. [2nd ed.].
44. Improved TOA-Based Localization Method with BS Selection Scheme for Wireless Sensor Networks10.4218/etrij.15.0114.1251 ↗
45. A Survey on TOA Based Wireless Localization and NLOS Mitigation Techniques10.1109/SURV.2009.090308 ↗
46. Montminy, M.B. (2012). Passive Geolocation of Low-Power Emitters in Urban Environments Using TDOA, BiblioScholar.
47. Mobile Location Estimator in a Rough Wireless Environment Using Extended Kalman-Based IMM and Data Fusion10.1109/TVT.2008.928649 ↗
48. Tracking a manoeuvring target while mitigating NLOS errors in TDOA measurements10.1049/iet-rsn.2019.0432 ↗
49. Analysis of Wireless Localization in Non-Line-of-Sight Conditions10.1109/TVT.2013.2244928 ↗
50. Wann, C., and Chin, H. (2007, January 11–15). Hybrid TOA/RSSI Wireless Location with Unconstrained Nonlinear Optimization for Indoor UWB Channels. Proceedings of the 2007 IEEE Wireless Communications and Networking Conference, Hong Kong, China.10.1109/WCNC.2007.720 ↗
51. Distributed Coordination Control of Multi-Agent Systems While Preserving Connectedness10.1109/TRO.2007.900638 ↗
52. Kan, Z., Klotz, J.R., Shea, J.M., Doucette, E.A., and Dixon, W.E. (2016). Decentralized Rendezvous of Nonholonomic Robots with Sensing and Connectivity Constraints. J. Dyn. Syst. Meas. Control., 139.10.1115/1.4034745 ↗
53. A Speeding-Up and Slowing-Down Strategy for Distributed Source Seeking with Robustness Analysis10.1109/TCNS.2015.2459414 ↗
54. A Gradient-Free Three-Dimensional Source Seeking Strategy with Robustness Analysis10.1109/TAC.2018.2882172 ↗
55. Three-dimensional multi-robot control to chase a target while not being observed10.1177/1729881419829667 ↗
56. Controlling Rigid Formations of Mobile Agents Under Inconsistent Measurements10.1109/TRO.2014.2373145 ↗
57. Krick, L., Broucke, M.E., and Francis, B.A. (2008, January 9–11). Stabilization of infinitesimally rigid formations of multi-robot networks. Proceedings of the 2008 47th IEEE Conference on Decision and Control, Cancun, Mexico.10.1109/CDC.2008.4738760 ↗
58. Cooperative Control for Ocean Sampling: The Glider Coordinated Control System10.1109/TCST.2007.912238 ↗
59. Kim, J. (2021). Constructing 3D Underwater Sensor Networks without Sensing Holes Utilizing Heterogeneous Underwater Robots. Appl. Sci., 11.10.3390/app11094293 ↗
60. Multi-robot rendezvous based on bearing-aided hierarchical tracking of network topology10.1016/j.adhoc.2018.11.004 ↗
61. Li, Q., De Rosa, M., and Rus, D. (2003, January 14–19). Distributed Algorithms for Guiding Navigation across a Sensor Network. Proceedings of the 9th Annual International Conference on Mobile Computing and Networking, MobiCom’03, San Diego, CA, USA.10.1145/938985.939017 ↗
62. Li, Q., Aslam, J., and Rus, D. (2003, January 6–9). Distributed Energy-conserving Routing Protocols for Sensor Networks. Proceedings of the IEEE Hawaii International Conference on System Science, Big Island, HI, USA.
63. Control laws to avoid collision with three dimensional obstacles using sensors10.1016/j.oceaneng.2018.11.035 ↗
64. Distributed reactive collision avoidance10.1007/s10514-011-9267-7 ↗
65. Lavalle, S.M. (2006). Planning Algorithms, Cambridge University Press.10.1017/CBO9780511546877 ↗