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Further results on the stability of distance-based multi-robot formations
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2009 (English)In: 2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, 2972-2977 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
Proceedings Of The American Control Conference, ISSN 0743-1619
Keyword [en]
Control laws, Cycle space, Distance-based, Formation control, Formation graphs, Multi-robot formation, Nonholonomics, Potential field, Computer simulation, Industrial robots, Multipurpose robots, Graph theory
National Category
Information Science
Identifiers
URN: urn:nbn:se:kth:diva-28506DOI: 10.1109/ACC.2009.5160238ISI: 000270044901163Scopus ID: 2-s2.0-70449625214ISBN: 978-1-4244-4523-3 (print)OAI: oai:DiVA.org:kth-28506DiVA: diva2:390182
Conference
American Control Conference 2009 St Louis, MO, JUN 10-12, 2009
Note
QC 20110121Available from: 2011-01-21 Created: 2011-01-14 Last updated: 2012-02-02Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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