Path formation for Leader–Follower

Non-holonomic Multi Mobile Robots

Proposal Presentation 1
 Outline

• Single Robot System vs Multi Robot System

• Introduction

• Centralized Methods

• Problem Statement

• Proposed Solution

• Project’s Goal

Proposal Presentation 2
Single Robot System vs Multi Robot System

Single Robot System Multi Robot System

Works well in simple cases while Works well in both Simple and
in complex cases it has many complex cases
drawbacks
Single point of failure Doesn’t posses single point failure
Costly and Complex Economical and more Robust
Doesn’t provide flexibility Flexible and fault tolerant

[1] [2]

Proposal Presentation 3
 Introduction
• Multi robot system (MRS) can Formally be defined as, a collection of
two or more robots working together to achieve a desired goal.

• The real power of MRS lies in cooperation, coordination and

communication.

• Coordination of multiple mobile robots (MRS) has received

considerable attention over the past decade.

• MRS, if working cooperatively can behave like a single unit, with fault
tolerance and robust properties [3].

Proposal Presentation 4
 Introduction
• A robot team can perform tasks that are difficult for one single robot.

• Group hunting,
• large area exploration
• Surveillance
• Search & Rescue operations
• Object transportation,
• Numerous industrial applications etc. [4]

[4]
Proposal Presentation 5
 Introduction
• Autonomous Navigation of mobile robots cover a wide spectrum of
applications

• Success of MRS in these applications depend on their intelligence

capabilities, of which path planning/formation is one of the most
effective and important.

• Avoiding obstacles and finding a continuous collision-free motion

from a current configuration to a given final configuration

• In the leader–follower formation, one robot is designated as the leader,

and other robots are controlled to follow their respective leader
following a centralized approach [5].

Proposal Presentation 6
 Centralized Multirobot
• Centralized multirobot control is the transportation system in hospital
Nemocnice Na Homolce

• Mobile robots transport dishes and sheeting throughout the whole

building [6].

[6]

Proposal Presentation 7
 Centralized Methods

• Robot team treated as a single “system”

• A single robot or computer is the leader/master
• Leader plans optimal tasks for group members
• Group members send information to leader and carry out actio
ns
 Centralized Methods : Pros

• Leader can take all relevant information into account for plann
ing
• Suited for limited number of robots that operate in known and
unchanging environment
• Optimal solution possible!
 Centralized Methods: Cons

• Intractable for more than a few robots

• Not robust to communication failures and unpredictable situati
ons.
• Vulnerable to malfunction of leader
• Heavy communication load for the leader
 Problem Statement
• Single mobile robot does not provide the level of flexibility and
robustness as compared to MRS.

[7]

Proposal Presentation 11
 Proposed Solution
• Use of a large group of robots solve the problem by providing
great deal of advantages

• Coordination between multi-robots increases the efficiency of the task.

• Using a number of simple robots can be simpler (to program), cheaper

(to build) than using a single powerful robot (that is complex and
expensive) to accomplish a task.

Proposal Presentation 12
 Goal
• The goal of the project is to have leader-follower multi robots
(centralized approach) following a path, avoiding all the obstacles and
navigating in a workspace from an initial configuration to final
configuration .

• The simulations will be carried out in V-Rep.

Proposal Presentation 13
 References
[1]. Shah, B., & Choset, H. Survey on Urban Search and Rescue Robotics.
[2]. Casper, J., & Murphy, R. R. (2003). Human-robot interactions during the robot
assisted urban search and rescue response at the world trade center. Systems, Man, and
Cybernetics, Part B: Cybernetics, IEEE Transactions on, 33 (3), 367-385.
[3]. Liu, Y., & Nejat, G. (2013). Robotic urban search and rescue: A survey from the
control perspective. Journal of Intelligent & Robotic Systems, 72 (2), 147-165.
[4]. Drenner, A., Janssen, M., Kottas, A., Kossett, A., Carlson, C., Lloyd, R., &
Papanikolopoulos, N. (2013). Coordination and Longevity in Multi-Robot Teams
Involving Miniature Robots. Journal of Intelligent & Robotic Systems, 72 (2), 263-284.
[5]. Wong, C. Y., Seet, G., & Sim, S. K. (2011). Multiple-Robot Systems for USAR: Key
Design Attributes and Deployment Issues. International Journal of Advanced Robotic
Systems,.
[6]. El Zoghby, N., Loscri, V., Natalizio, E., & Cherfaoui, V. (2014). Robot Cooperation
and Swarm Intelligence. Wireless Sensor and Robot Networks: From Topology Control to
Communication Aspects.

Proposal Presentation 14
Thank you
Proposal Presentation 15