Title :
Formation constrained multi-agent control
Author :
Egerstedt, Magnus ; Hu, Xiaoming
Author_Institution :
Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA
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, as well as to mobile manipulation.
Keywords :
manipulators; mobile robots; multi-robot systems; path planning; position control; stability; bounded tracking error; formation constrained multi-agent control; formation error; mobile manipulation; model independent coordination strategy; rigid body constrained motions; Mobile robots; Navigation; Robot control; Robot kinematics; Robustness; Stability; Strategic planning; Technology planning; Temperature control; Trajectory;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933235
