Cooperative visibility maintenance in SE(3) for multi-robot-networks with limited field-of-view sensors

Hasan A. Poonawala, Mark W. Spong

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


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.

Original languageEnglish
Pages (from-to)246-257
Number of pages12
JournalControl Theory and Technology
Issue number4
StatePublished - Nov 1 2017

Bibliographical note

Publisher Copyright:
© 2017, South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany.


  • Multi-robot coordination
  • decentralized control
  • graph theoretic control

ASJC Scopus subject areas

  • Control and Optimization
  • Information Systems
  • Aerospace Engineering
  • Signal Processing
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Modeling and Simulation


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