Resilient adaptive multi-robot formation tracking for guaranteed dynamic obstacle avoidance within limited inter-agent communication ranges

초록

This paper presents a resilient adaptive formation control design strategy to achieve guaranteed dynamic obstacle avoidance within limited inter-agent communication ranges in nonholonomic multi-robot systems. Unlike in the existing literature, the main contribution is developing a Lyapunov-based formation tracker using guidance signals to avoid dynamic obstacles within limited inter-agent communication ranges in the presence of unknown deception attacks and unknown velocities of dynamic obstacles. Error variables constructed using guidance signals are employed to design a resilient adaptive formation tracker in a neural network-based command-filtered backstepping framework. The guidance signals are designed through a Lyapunov stability analysis to ensure that connected robots stay within limited inter-agent communication ranges while adjusting formation errors that arise during obstacle avoidance. Additionally, adaptive laws are devised to compensate for unknown obstacle velocities and deception attacks affecting the velocity of the leader. The analysis guarantees that all error signals in closed-loop systems remain bounded and can be arbitrarily reduced in the Lyapunov sense. Simulation results confirm the effectiveness of the proposed theoretical framework. Authors

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