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
A formation control algorithm using Voronoi regions
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2006 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We present an algorithm for stabilizing a hexagonal lattice formation of autonomous robotic agents. The algorithm is decentralized and each agent only needs to detect the relative positions of its neighbors. By partitioning the plane into Voronoi regions we can guarantee collision safety, even when the algorithm is used to produce waypoints for a non-holonomic agent to follow. In each iteration every agent moves to the centroid of the vertices of its Voronoi region, which yields formation cohesion. We define asymptotic formation stability that is independent of rotation or translation of the whole formation and prove local asymptotic stability. Finally we present simulations that confirm the stability analysis and illustrate the use of the algorithm with car-like robots.

Place, publisher, year, edition, pages
2006.
Keyword [en]
Cooperative control, Multi-agent systems, Decentralized control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-81382OAI: oai:DiVA.org:kth-81382DiVA: diva2:497416
Conference
Reglermöte, Stockholm, Sweden
Note
QC 20120216Available from: 2012-02-16 Created: 2012-02-10 Last updated: 2012-03-21Bibliographically approved

Open Access in DiVA

multirobot_cts-hycon06(239 kB)211 downloads
File information
File name FULLTEXT01.pdfFile size 239 kBChecksum SHA-512
5f02aa1de230ce2cf1be799139101e9495a3896b7ffa9ce19852d20b14c4fd3d68bb878a2dbdbddf36dbf1ebc7d1367ecba231089e2bd9d89071c60b246cac73
Type fulltextMimetype application/pdf

Authority records BETA

Johansson, Karl Henrik

Search in DiVA

By author/editor
Lindhé, MagnusJohansson, Karl Henrik
By organisation
Automatic ControlACCESS Linnaeus Centre
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 211 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 52 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