Title: Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation,
Abstract: In this paper, we present the design and implementation of a robust motion
formation distributed control algorithm for a team of mobile robots. The
primary task for the team is to form a geometric shape, which can be freely
translated and rotated at the same time. This approach makes the robots to
behave as a cohesive whole, which can be useful in tasks such as collaborative
transportation. The robustness of the algorithm relies on the fact that each
robot employs only local measurements from a laser sensor which does not need
to be off-line calibrated. Furthermore, robots do not need to exchange any
information with each other. Being free of sensor calibration and not requiring
a communication channel helps the scaling of the overall system to a large
number of robots. In addition, since the robots do not need any off-board
localization system, but require only relative positions with respect to their
neighbors, it can be aimed to have a full autonomous team that operates in
environments where such localization systems are not available. The
computational cost of the algorithm is inexpensive and the resources from a
standard microcontroller will suffice. This fact makes the usage of our
approach appealing as a support for other more demanding algorithms, e.g.,
processing images from onboard cameras. We validate the performance of the
algorithm with a team of four mobile robots equipped with low-cost commercially
available laser scanners.