Further results on the stability of distance-based multi-robot formations

• An important class of multi-robot formations is specified by desired distances between adjacent robots. In previous work, we showed that distance-based formations can be globally stabilized by negative gradient, potential field based, control laws, if and only if the formation graph is a tree. In this paper, we further examine the relation between the cycle space of the formation graph and the resulting equilibria of cyclic formations. In addition, the results are extended to the case of distance based formation control for nonholonomic agents. The results are supported through computer simulations.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Systemvetenskap, informationssystem och informatik (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Information Systems (hsv//eng)

Nyckelord

Control laws

Cycle space

Distance-based

Formation control

Formation graphs

Multi-robot formation

Nonholonomics

Potential field

Computer simulation

Industrial robots

Multipurpose robots

Graph theory

Systems engineering

Systemteknik

Publikations- och innehållstyp

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