Distributed control of compact formations for multi-robot swarms

• This article proposes a distributed algorithm for the compact deployment of robots, using both distance-and angular-based arguments in the controllers' design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph's connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

multi-agent systems (MAS)

dispersion

compact formations

formation shape control

Publikations- och innehållstyp

ref (ämneskategori)

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