DocumentCode
2467496
Title
Further results on the stability of distance-based multi-robot formations
Author
Dimarogonas, Dimos V. ; Johansson, Karl H.
Author_Institution
Lab. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA
fYear
2009
fDate
10-12 June 2009
Firstpage
2972
Lastpage
2977
Abstract
An important class of multi-robot formations is specified by desired distances between adjacent robots. In previous work, we showed that distance-based formations can be globally stabilized by negative gradient, potential field based, control laws, if and only if the formation graph is a tree. In this paper, we further examine the relation between the cycle space of the formation graph and the resulting equilibria of cyclic formations. In addition, the results are extended to the case of distance based formation control for nonholonomic agents. The results are supported through computer simulations.
Keywords
multi-robot systems; stability; adjacent robots; cycle space; distance-based formations; formation graph; multi-robot formations; nonholonomic agents; Application software; Computer simulation; Control design; Control systems; Distributed control; Large-scale systems; Multiagent systems; Orbital robotics; Stability; Tree graphs;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2009. ACC '09.
Conference_Location
St. Louis, MO
ISSN
0743-1619
Print_ISBN
978-1-4244-4523-3
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2009.5160238
Filename
5160238
Link To Document