Engineering Research Seminar Series 39, 2011: Behavior Based Multi Robot Formations with Active Obstacle Avoidance Based on Switching Control Strategy

Dr Kuppan Chetty Ramanathan, School of Engineering, Monash University Sunway Campus

Date: 2011-11-10
Time: 14:30 to 15:30
Venue: Tutorial Room 6-4-01


This work considers the problem of formation control andobstacle avoidance for a group of nonholonomic mobile robots in a leaderreferenced model based on a simple reactive switching control strategy. Important issues related to the multi robot formation namely distributed formation control framework based on switching control strategy, active obstacle avoidance on follower and real time implementations are investigated. A state-based modelling framework is also presented in this work, where the individual behaviours of the hybrid formation control approach are modelled as temporal states and the  performance of the approach is analysed through simulations. Experimental investigations have also been performed by using two commercially available robot research platforms.

About the Speaker

Dr Kuppan Chetty Ramanathan is currently a Lecturer at School of Engineering, Monash University Sunway Campus Malaysia. He obtained his PhD in Robotics and Control from IIT Madras, India in 2010. Prior to that, he received his B.E. in Instrumentation and Control Engineering in 2002 from the Madurai Kamaraj University and his Masters of Technology in Sensor Systems Technology in 2004 from Vellore Institute of Technology. In addition he has served as a Project officer, at IIT Madras prior to joining Monash, where he was involved in design and establishment of Remote Robotics laboratory an e-laboratory platform under Ministry of Human Resources and Development, Govt. Of INDIA. His research areas are in Networked robotics, Vision based robotic Systems, Opto Mechatronics and Optical Fiber Sensors.