Ordering-flexible multi-robot coordination for moving target convoying using long-term task execution

• Main Authors: Hu, Bin-Bin, Zhou, Yanxin, Wei, Henglai, Wang, Yan, Lv, Chen
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2024
• Subjects: Engineering; Target convoying; Ordering-flexible coordination
• Online Access: https://hdl.handle.net/10356/175837
• Institution: Nanyang Technological University

In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments. Particularly, by designing target-approaching and sensing-neighbor coll...