Decentralized Formation Control of Multi-agent Robot Systems based on Formation Graphs

被引：1
|
作者：
Hernandez-Martinez, Eduardo G. [1 ]
Aranda-Bricaire, Eduardo [2 ]
机构：
[1] Univ Iberoamer, Mexico City 01219, DF, Mexico
[2] CINVESTAV IPN, Mexico City 7000, DF, Mexico
来源：
STUDIES IN INFORMATICS AND CONTROL | 2012年 / 21卷 / 01期
关键词：
Mobile robots; Decentralized control; Formation control; Graph theory; Unicycles;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Formation control is an important issue of motion coordination of Multi-agent Robots Systems. The goal is to coordinate a group of agents to achieve a desired formation pattern. The control strategies are decentralized because every robot does not possess information about the positions and goals of all the other robots. Based on the formation graphs properties and the local potential functions approach, we obtain a formal result about global convergence to the desired pattern for any formation graph. Also, we characterize the topologies of the formation graphs where the centroid of positions remains stationary. Finally, the control approach is extended to the case of unicycle-type robots.
引用
收藏
页码：7 / 16
页数：10
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