Title :
Formation constrained multi-agent control
Author :
Egerstedt, Magnus ; Hu, Xiaoming
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
12/1/2001 12:00:00 AM
Abstract :
We propose a model independent coordination strategy for multi-agent formation control. The main theorem states that under a bounded tracking error assumption, our method stabilizes the formation error. We illustrate the usefulness of the method by applying it to rigid body constrained motions
Keywords :
intelligent control; mobile robots; multi-agent systems; position control; bounded tracking error assumption; coordinated control; formation constrained multi-agent control; formation error; mobile robots; model independent coordination strategy; multi-agent formation control; rigid body constrained motions; Distributed control; Manufacturing; Mobile robots; Navigation; Robot control; Robot kinematics; Robustness; Stability; Trajectory; Vehicle dynamics;
Journal_Title :
Robotics and Automation, IEEE Transactions on
