Formation Control of Multi-robot Motion Systems and State Estimation using Extended Kalman Filter

Prima Aditya, Erna Apriliani, Guisheng Zhai, Didik Khusnul Arif

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The multi-robot motion system is a dynamical system from a group of robots which moved in an unknown environment. Multi-robot is the development of a single robot that can overcome cooperative motion by utilizing information from its neighbours. We consider the formation of controls imposed on the observed multi-robot motion system. Robots that have different starting points will then be controlled to a meeting point (rendezvous), then controlled to move in a formation at a specified speed. The movements trajectory of these robots observed will be estimated using the Extended Kalman filter method. The purpose of this estimation is to observe the movement of robots when we have minimum measurement data. This method is one example of a data assimilation method which is combining model system and measurement system to get better approximation. The results of the tracking estimation are very good with very small error.

Original languageEnglish
Title of host publicationProceeding of 2019 International Conference on Electrical Engineering and Informatics, ICEEI 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages99-104
Number of pages6
ISBN (Electronic)9781728124186
DOIs
Publication statusPublished - 2019 Jul
Event7th International Conference on Electrical Engineering and Informatics, ICEEI 2019 - Bandung, Indonesia
Duration: 2019 Jul 92019 Jul 10

Publication series

NameProceedings of the International Conference on Electrical Engineering and Informatics
Volume2019-July
ISSN (Print)2155-6830

Conference

Conference7th International Conference on Electrical Engineering and Informatics, ICEEI 2019
CountryIndonesia
CityBandung
Period19/7/919/7/10

Keywords

  • formation control
  • Kalman filter
  • multi-robot

ASJC Scopus subject areas

  • Information Systems
  • Electrical and Electronic Engineering

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    Aditya, P., Apriliani, E., Zhai, G., & Arif, D. K. (2019). Formation Control of Multi-robot Motion Systems and State Estimation using Extended Kalman Filter. In Proceeding of 2019 International Conference on Electrical Engineering and Informatics, ICEEI 2019 (pp. 99-104). [8988841] (Proceedings of the International Conference on Electrical Engineering and Informatics; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEEI47359.2019.8988841