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Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2014 (English)In: IEEE/CAA Journal of Automatica Sinica, ISSN 2329-9266, Vol. 1, no 1, 54-60 p., 7004620Article in journal (Refereed) Published
Abstract [en]

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

Place, publisher, year, edition, pages
2014. Vol. 1, no 1, 54-60 p., 7004620
Keyword [en]
containment, distributed control, experimental platform, group dispersion, Multi-agent systems, Algorithms, Dispersions, Distributed parameter control systems, Industrial robots, Multipurpose robots, Robot learning, Robots, Distributed control algorithms, Double-integrator dynamics, Experimental verification, Group dispersions, Multi-robot systems, Multi agent systems
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-195341DOI: 10.1109/JAS.2014.7004620ScopusID: 2-s2.0-84969811606OAI: oai:DiVA.org:kth-195341DiVA: diva2:1044816
Note

QC 20161107

Available from: 2016-11-07 Created: 2016-11-02 Last updated: 2016-11-07Bibliographically approved

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