Implementation of Ensemble Kalman Filter and Consensus Control for Multi-robot Motion System

Didik Khusnul Arif*, Nurdia Dwi Cahyani, Erna Apriliani

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

For decades, the development of robots has been very significant along with technological development. Robots used are to help complete human tasks. Initially, researchers conducted a lot of research related to single-robot motion systems. However, under certain conditions, the single-robot cannot help complete human tasks and cannot work in large-scale environments, so a multi-robot system is developed. A Multi-robot system is a robot in an environment unknown to work cooperatively for a particular purpose. To estimate motion in a multi-robot motion system, one of the data assimilation methods can be used, namely Ensemble Kalman Filter. The Ensemble Kalman Filter used to estimate various problems shaped model strongly nonlinear system and has shown that able to solve a dynamical system nonlinear model in the state of being big. After estimation, this paper also controls the movement of the robot. The control design used is consensus control based on graph theory and control theory. In consensus control, the connected graphs are intended towards a specific goal, namely towards the point of agreement. The results of the implementation ofEnsemble Kalman Filter and consensus control on a multi-robot motion system obtained worked very well with very small error.

Original languageEnglish
Title of host publication8th International Conference and Workshop on Basic and Applied Science, ICOWOBAS 2021
EditorsAnjar Tri Wibowo, M. Fariz Fadillah Mardianto, Riries Rulaningtyas, Satya Candra Wibawa Sakti, Muhammad Fauzul Imron, Rico Ramadhan
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735442610
DOIs
Publication statusPublished - 25 Jan 2022
Event8th International Conference and Workshop on Basic and Applied Science, ICOWOBAS 2021 - Surabaya, Indonesia
Duration: 25 Aug 202126 Aug 2021

Publication series

NameAIP Conference Proceedings
Volume2554
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference8th International Conference and Workshop on Basic and Applied Science, ICOWOBAS 2021
Country/TerritoryIndonesia
CitySurabaya
Period25/08/2126/08/21

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