DocumentCode
3235179
Title
Formation constrained multi-agent control
Author
Egerstedt, Magnus ; Hu, Xiaoming
Author_Institution
Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA
Volume
4
fYear
2001
fDate
2001
Firstpage
3961
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933235
Filename
933235
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