DocumentCode :
3523650
Title :
Decentralized centroid and formation control for multi-robot systems
Author :
Antonelli, Gianluca ; Arrichiello, Filippo ; Caccavale, F. ; Marino, Armando
Author_Institution :
Univ. of Cassino & Southern Lazio, Cassino, Italy
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
3511
Lastpage :
3516
Abstract :
In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.
Keywords :
decentralised control; multi-robot systems; networked control systems; observers; position control; stability; connectivity graph; control variables; convergence properties; decentralized centroid; decentralized control strategy; distributed observer-controller scheme; formal stability analysis; formation control; networked multi-robot systems; Eigenvalues and eigenfunctions; Observers; Robot kinematics; Robot sensing systems; Topology; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631068
Filename :
6631068
Link To Document :
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