Stability on multi-robot formation with dynamic interaction topologies

Yangmin Li, Xin Chen

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

13 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 languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1325-1330
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2 Aug 20056 Aug 2005

Conference

ConferenceIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Country/TerritoryCanada
CityEdmonton, AB
Period2/08/056/08/05

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

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