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Distributed control of compact formations for multi-robot swarms
Politecn Milan, Dept DEIB, Via Ponzio 34-5, I-20133 Milan, Italy..
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-7309-8086
Univ Toulouse, CNRS LAAS, Equipe MAC, 7 Ave Colonel Roche,BP 54200, F-31031 Toulouse 4, France..
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-9940-5929
2018 (English)In: IMA Journal of Mathematical Control and Information, ISSN 0265-0754, E-ISSN 1471-6887, Vol. 35, no 3, p. 805-835Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Oxford University Press, 2018. Vol. 35, no 3, p. 805-835
Keywords [en]
multi-agent systems (MAS), dispersion, compact formations, formation shape control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-239502DOI: 10.1093/imamci/dnw073ISI: 000449361300006Scopus ID: 2-s2.0-85057184373OAI: oai:DiVA.org:kth-239502DiVA, id: diva2:1266495
Note

QC 201811128

Available from: 2018-11-28 Created: 2018-11-28 Last updated: 2019-03-18Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl H.

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