Reduction and nonlinear controllability of symmetric distributed robotic systems with drift

被引:13
|
作者
McMickell, MB [1 ]
Goodwine, B [1 ]
机构
[1] Univ Notre Dame, Notre Dame, IN 46556 USA
来源
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年
关键词
D O I
10.1109/ROBOT.2002.1014245
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper considers the "reduction" problem for distributed robotic systems. In particular, controllability of systems containing multiple instances of identical robotic systems or components where the overall system is invariant with respect. to interchanging these identical robots or components is considered. The main result is a proposition which shows that for an equivalence class of symmetric systems of this type, controllability of the entire class of systems can be determined by analyzing the smallest member of the equivalence class.
引用
收藏
页码:3454 / 3460
页数:7
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