Further results on the stability of distance-based multi-robot formations
2009 (English)In: 2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, 2972-2977 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
2009. 2972-2977 p.
, Proceedings Of The American Control Conference, ISSN 0743-1619
Control laws, Cycle space, Distance-based, Formation control, Formation graphs, Multi-robot formation, Nonholonomics, Potential field, Computer simulation, Industrial robots, Multipurpose robots, Graph theory
IdentifiersURN: urn:nbn:se:kth:diva-28506DOI: 10.1109/ACC.2009.5160238ISI: 000270044901163ScopusID: 2-s2.0-70449625214ISBN: 978-1-4244-4523-3OAI: oai:DiVA.org:kth-28506DiVA: diva2:390182
American Control Conference 2009 St Louis, MO, JUN 10-12, 2009
QC 201101212011-01-212011-01-142012-02-02Bibliographically approved