Decentralized Discrete-Time Formation Control for Multirobot Systems

Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local intera...

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Published inDiscrete Dynamics in Nature and Society Vol. 2013; no. 2013; pp. 731 - 738-186
Main Authors E. G. Hernandez-Martinez, J. J. Flores-Godoy, G. Fernandez-Anaya
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Limiteds 01.01.2013
Hindawi Puplishing Corporation
Hindawi Publishing Corporation
Hindawi Limited
Wiley
Subjects
Control systems
Convergence
Dynamical systems
Dynamics
Engineering research
Mathematical analysis
Mathematical models
Mathematical research
Multi-agent systems
Robot control
Robotics
Robots
China
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Summary:Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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ISSN:1026-0226
1607-887X
DOI:10.1155/2013/746713