Experiments on Pause and Go State Estimation and Control with Uncertain Sensors Feedback

A bio-inspired state estimation and control algorithm is experimentally tested to autonomously balance a team of robots on a circle. In this control scheme inspired from the social behavior of some insects species, a leader is elected randomly and periodically moves at a constant angular speed. The followers triggered by the leader motion, implement a decentralized and non-cooperative state estimation and control algorithm using uncertain and noisy proximity sensor measurements. Individuals in the team are immobile during the pause sequence to gather and process proximity distances, identify closer neighbors, and estimate their relative phase distances. During the go sequence, they either accelerate to achieve the desired spacing from closer neighbors, or move at a constant angular speed in phase with the leader. The scheme is tested on caster wheeled robots equipped with a rotating sonar platform to get forward and backward distances and is shown capable to balance the team of robots even in the presence of false readings or intermittent measurements. Further, at steady-state, the team of robots is capable to self balance in the absence of sensor feedback.