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Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders ?
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2013 (English)In: IFAC Proceedings Volumes (IFAC-PapersOnline), 2013, no PART 1, 153-158 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 13
Keyword [en]
Control platform, Distributed control algorithms, Double-integrator dynamics, Experimental verification, Group dispersions, Multi-robot systems, Multirobots, Dispersions, Industrial robots, Multipurpose robots, Robot learning, Algorithms
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-140029DOI: 10.3182/20130708-3-CN-2036.00077Scopus ID: 2-s2.0-84885804307OAI: oai:DiVA.org:kth-140029DiVA: diva2:689679
Conference
13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, LSS 2013, 7 July 2013 through 10 July 2013, Shanghai
Note

QC 20140121

Available from: 2014-01-21 Created: 2014-01-16 Last updated: 2014-01-21Bibliographically approved

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CiteExportLink to record
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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
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  • Other locale
More languages
Output format
  • html
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  • asciidoc
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