Title :
Minimal persistence control on dynamic directed graphs for multi-robot formation
Author :
Wang, Hua ; Guo, Yi
Author_Institution :
Dept. of Electr. & Comput. Eng., Stevens Inst. of Technol., Hoboken, NJ, USA
Abstract :
Given a multi-robot system, in order to preserve its geometric shape in a formation, the minimal persistence control addresses questions: (1) what pairwise communication connections have to be prescribed to minimize communication channels, and (2) which orientations of communication links are to be placed between robots. In this paper, we propose a minimal persistence control problem on multi-robot systems with underlying graphs being directed and dynamically switching. We develop distributed algorithms based on the rank of the rigidity matrix and the pebble game method. The feasibility of the proposed methods is validated by simulations on the robotic simulator Webots and experiments on e-puck robot platform.
Keywords :
control engineering computing; directed graphs; distributed algorithms; game theory; multi-robot systems; position control; communication channel; communication link; distributed algorithm; dynamic directed graph; dynamic switching; e-puck robot platform; geometric shape; minimal persistence control problem; multirobot formation; multirobot system; pairwise communication connection; pebble game method; rigidity matrix; robotic simulator Webots; Context; Multirobot systems; Robot kinematics; Robot sensing systems; Sparse matrices; Symmetric matrices;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224730