Stability on multi-robot formation with dynamic interaction topologies

Yangmin Li; Xin Chen

doi:10.1109/IROS.2005.1545163

Stability on multi-robot formation with dynamic interaction topologies

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

14 Citations (Scopus)

Abstract

The formation task achieved by multiple robots is a tough issue because of the limitations of the sensing abilities and communicating functions among them. Due to an individual robot can only handle local information, an adjacency graph is applied to describe the relationship among multiple robots. Since the relative positions among robots change from time to time, the topology graph describing information exchange is variant. A local control strategy is proposed for an individual robot based on NN control with robust terms. It has been proved that under an assumption of adjacency matrices associated with interaction graph being always connected, the system will converge based on the individual control strategy and multiple robots can construct an unique formation even if interaction topology is variant.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	1325-1330
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2005.1545163
Publication status	Published - 1 Dec 2005
Externally published	Yes
Event	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: 2 Aug 2005 → 6 Aug 2005

Conference

Conference	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Country/Territory	Canada
City	Edmonton, AB
Period	2/08/05 → 6/08/05

Keywords

Formation
Graph theory
Multi-robot system
NN control
Switch system

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

More information

10.1109/IROS.2005.1545163

Cite this

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AB - The formation task achieved by multiple robots is a tough issue because of the limitations of the sensing abilities and communicating functions among them. Due to an individual robot can only handle local information, an adjacency graph is applied to describe the relationship among multiple robots. Since the relative positions among robots change from time to time, the topology graph describing information exchange is variant. A local control strategy is proposed for an individual robot based on NN control with robust terms. It has been proved that under an assumption of adjacency matrices associated with interaction graph being always connected, the system will converge based on the individual control strategy and multiple robots can construct an unique formation even if interaction topology is variant.

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KW - Switch system

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Stability on multi-robot formation with dynamic interaction topologies

Abstract

Conference

Keywords

ASJC Scopus subject areas

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