DocumentCode :
3179979
Title :
Robust Formation Adaptation for Mobile Robots
Author :
Gustavi, Tove ; Hu, Xiaoming
Author_Institution :
Optimization & Syst. Theor., R. Inst. of Technol., Stockholm
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
2521
Lastpage :
2526
Abstract :
In this paper, formation adaptation and stability for mobile multi-agent systems is studied. The objective is to suggest a set of robust control functions that can be combined to build complex formations of mobile robots. A properly designed formation should be able to follow a single leader in a clustered environment and to, if necessary, adapt to the surroundings by changing its shape. The two control algorithms proposed here are adapted for systems with limited communication capacity and low performance sensors. The algorithms only require information that can be directly achieved from on-board sensors and, in particular, they only need very coarse estimation of the velocity of the neighbors in the formation. An arbitrary change of the shape of a formation may require switching between control algorithms. In the paper, it is shown that switching between the two proposed control algorithms is stable under some reasonable assumptions. The results are verified by simulations, which also show that switching can be performed safely even with a high noise level and no prior filtering of sensor input
Keywords :
mobile robots; multi-robot systems; position control; robust control; complex formations; limited communication capacity; low performance sensors; mobile multi-agent systems; mobile robots; robust control functions; robust formation adaptation; Clustering algorithms; Communication system control; Control systems; Mobile communication; Mobile robots; Multiagent systems; Robust control; Robustness; Shape control; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.281700
Filename :
4058768
Link To Document :
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