Trajectory Estimation in Unknown Nonlinear Manifold Using Koopman Operator Theory

Formation coordination is a critical aspect of swarm robotics, which involves coordinating the motion and behavior of a group of robots to achieve a specific objective. In formation coordination, the robots must maintain a specific spatial arrangement while in motion. In this paper, we present a lea...

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Bibliographic Details
Published in:arXiv.org 2023-12
Main Authors: Wang, Yanran, Banks, Michael J, Mezic, Igor, Hikihara, Takashi
Format: Article
Language:English
Subjects:
Coordination
Robotics
Robots
Trajectory analysis
Online Access:Get full text
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Summary:Formation coordination is a critical aspect of swarm robotics, which involves coordinating the motion and behavior of a group of robots to achieve a specific objective. In formation coordination, the robots must maintain a specific spatial arrangement while in motion. In this paper, we present a leader-follower column formation coordination problem in an unknown, two-dimensional nonlinear manifold, where we redefining it as a trajectory estimation problem. Leveraging Koopman operator theory and Extended Dynamic Mode Decomposition, we estimate the measurement vectors for the follower agent and guide its nonlinear trajectories.
ISSN:2331-8422