Experiments on multi-agent capture of a stochastically moving object using modified projective path planning

摘要

Most of the past research in swarm robotics has considered object capture and transport using a specified and very large number of agents. The objects therein were either stationary or moving deterministically (i.e., along a known path). In most previous efforts, the obstacles were also considered stationary. Here we present a modified projective path planning algorithm and illustrate via laboratory experiments that an object exhibiting stochastic (unplanned) but low-speed motion can be restrained by a limited number of agents guided in real-time across randomly moving obstacles. Relaxation of certain restrictions in the grasping objective allows for the determination of a minimum number and placement of agents around the perimeter of any generically shaped prismatic object. A closed loop experiment is designed using a single overhead camera that provides the visual feedback and helps determine the instantaneous positions of all entities in the workspace. Control signals are sent to the robots via wireless modules by a central processing unit to navigate and guide them to their respective new positions in the subsequent time-step. Agents continue to receive signals until they restrict the moving object in form closure.