Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Robust formation adaptation for mobile robots
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2006 (English)In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, NEW YORK: IEEE , 2006, 2521-2526 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, formation adaptation and stability for mobile multi-agent systems is studied. The objective is to suggest a set of robust control functions that can be combined to build complex formations of mobile robots. A properly designed formation should be able to follow a single leader in a clustered environment and to, if necessary, adapt to the surroundings by changing its shape. The two control algorithms proposed here are adapted for systems with limited communication capacity and low performance sensors. The algorithms only require information that can be directly achieved from on-board sensors and, in particular, they only need very coarse estimation of the velocity of the neighbors in the formation. An arbitrary change of the shape of a formation may require switching between control algorithms. In the paper, it is shown that switching between the two proposed control algorithms is stable under some reasonable assumptions. The results are verified by simulations, which also show that switching can be performed safely even with a high noise level and no prior filtering of sensor input.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2006. 2521-2526 p.
Series
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
Keyword [en]
Algorithms, Computer simulation, Mobile agents, Multi agent systems, Robust control, Sensors
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-42057DOI: 10.1109/IROS.2006.281700ISI: 000245452402105Scopus ID: 2-s2.0-34250646111ISBN: 978-1-4244-0258-8 (print)OAI: oai:DiVA.org:kth-42057DiVA: diva2:446127
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, PEOPLES R CHINA. OCT 09-13, 2006
Note
QC 20111006Available from: 2011-10-06 Created: 2011-10-05 Last updated: 2011-10-06Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Authority records BETA

Hu, Xiaoming

Search in DiVA

By author/editor
Gustavi, ToveHu, Xiaoming
By organisation
Optimization and Systems Theory
Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 45 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf