Leader-formation control with dynamic interaction topologies

Yangmin Li, Xin Chen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

Coordinate control of a multi-robot system is a hot research topic in recent years, since a tough task is usually performed by cooperation of multiple robots. A typical issue of coordination is formation, which requires a leader robot and its follower robots to construct certain types of patterns. A practical issue is addressed if the sensor and communication abilities are limited such that robots can only handle local information, how a group of robots form a formation. For an individual robot control, the local control strategy is applied based on dynamic model of robots with parameter uncertainty and adaptive NN methodology. The macroscopic performance of formation or stability of formation is studied, which includes invariant and variant interaction topologies. Using the local control strategy, it has been proved that the robots can form steady formation structure even if interaction topologies change over time as long as adjacency graph keeps connected.
Original languageEnglish
Title of host publicationProc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf. - DETC2005
Subtitle of host publicationASME/IEEE International Conference on Mechatronic and Embedded Systems Appl.
Pages169-176
Number of pages8
Volume4
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States
Duration: 24 Sep 200528 Sep 2005

Conference

ConferenceDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityLong Beach, CA
Period24/09/0528/09/05

ASJC Scopus subject areas

  • Engineering(all)

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