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Distributed control...
Distributed control of compact formations for multi-robot swarms
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- De Campos, Gabriel Rodrigues (author)
- Politecn Milan, Dept DEIB, Via Ponzio 34-5, I-20133 Milan, Italy.
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- Dimarogonas, Dimos V. (author)
- KTH,Reglerteknik
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- Seuret, Alexandre (author)
- Univ Toulouse, CNRS LAAS, Equipe MAC, 7 Ave Colonel Roche,BP 54200, F-31031 Toulouse 4, France.
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- Johansson, Karl H., 1967- (author)
- KTH,Reglerteknik
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Politecn Milan, Dept DEIB, Via Ponzio 34-5, I-20133 Milan, Italy Reglerteknik (creator_code:org_t)
- 2017-02-06
- 2018
- English.
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In: IMA Journal of Mathematical Control and Information. - : Oxford University Press. - 0265-0754 .- 1471-6887. ; 35:3, s. 805-835
- Related links:
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https://hal.laas.fr/...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- multi-agent systems (MAS)
- dispersion
- compact formations
- formation shape control
Publication and Content Type
- ref (subject category)
- art (subject category)
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