摘要
Coordination of motion between multiple robots requires the robots to sense their relative poses. Common sensors depend on maintaining a line-of-sight between the sensor and the object being sensed. When the robots move relative to one another, they must coordinate their motions to ensure that these lines-of-sight are preserved. We propose a control method to preserve desired lines-of-sight in a multi-robot system where each robot has configuration space SE（3）. A key feature of the control method is its ability to reject persistent bounded disturbances, enabling its use alongside additional control tasks. We demonstrate the effectiveness of the edge-preserving control in simulations involving additional input velocities that tend to break the edges.
Coordination of motion between multiple robots requires the robots to sense their relative poses. Common sensors depend on maintaining a line-of-sight between the sensor and the object being sensed. When the robots move relative to one another, they must coordinate their motions to ensure that these lines-of-sight are preserved. We propose a control method to preserve desired lines-of-sight in a multi-robot system where each robot has configuration space SE（3）. A key feature of the control method is its ability to reject persistent bounded disturbances, enabling its use alongside additional control tasks. We demonstrate the effectiveness of the edge-preserving control in simulations involving additional input velocities that tend to break the edges.
