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Further results on the stability of distance-based multi-robot formations
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- Dimarogonas, Dimos V. (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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- Johansson, Karl Henrik (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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(creator_code:org_t)
- 2009
- 2009
- English.
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In: 2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9. - 9781424445233 ; , s. 2972-2977
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https://kth.diva-por... (primary) (Raw object)
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https://doi.org/10.1...
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Abstract
Subject headings
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- 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.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Systemvetenskap, informationssystem och informatik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Information Systems (hsv//eng)
Keyword
- 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
Publication and Content Type
- ref (subject category)
- kon (subject category)
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