Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders

Author

Hejin Zhang ; Zhiyun Zhao ; Ziyang Meng ; Zongli Lin

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China

Volume

1

Issue

1

fYear

2014

fDate

Jan. 2014

Firstpage

54

Lastpage

60

Abstract

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

Keywords

distributed control; integration; mobile robots; multi-robot systems; containment behavior; distributed control algorithm; double integrator dynamic model; dynamic leaders; group dispersion behavior; multi-robot control platform; multi-robot distributed control algorithm; multi-robot system; Decentralized control; Dispersion; Heuristic algorithms; Mobile robots; Robot kinematics; Trajectory; Multi-agent systems; containment; distributed control; experimental platform; group dispersion;

fLanguage

English

Journal_Title

Automatica Sinica, IEEE/CAA Journal of

Publisher

ieee

ISSN

2329-9266

Type

jour

DOI

10.1109/JAS.2014.7004620

Filename

7004620