Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders ?
2013 (English)In: IFAC Proceedings Volumes (IFAC-PapersOnline), 2013, no PART 1, 153-158 p.Conference paper (Refereed)
This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a double-integrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.
Place, publisher, year, edition, pages
2013. no PART 1, 153-158 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 13
Control platform, Distributed control algorithms, Double-integrator dynamics, Experimental verification, Group dispersions, Multi-robot systems, Multirobots, Dispersions, Industrial robots, Multipurpose robots, Robot learning, Algorithms
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-140029DOI: 10.3182/20130708-3-CN-2036.00077ScopusID: 2-s2.0-84885804307OAI: oai:DiVA.org:kth-140029DiVA: diva2:689679
13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, LSS 2013, 7 July 2013 through 10 July 2013, Shanghai
QC 201401212014-01-212014-01-162014-01-21Bibliographically approved