Title :
Swarm aggregation with a multi-robot system composed of three robotic units: A closed form analysis
Author :
Depouhon, Celine ; Masciotta, Matteo ; Garone, E. ; Gasparri, Andrea
Author_Institution :
SAAS Dept., Univ. Libre de Bruxelles, Brussels, Belgium
Abstract :
In this work we consider a multi-robot system composed of three robotic units running the seminal swarm aggregation control law proposed in [1] for which a pairwise interaction is considered among each couple of units. In particular, we provide a characterization of all the possible equilibria for such a system while varying the parameters of interaction and investigate their stability properties. Simulations along with experimental results are given to corroborate the theoretical analysis.
Keywords :
multi-robot systems; stability; closed form analysis; equilibria; multirobot system; seminal swarm aggregation control law; stability properties; Equations; Multi-robot systems; Robot kinematics; Robot sensing systems; Stability analysis; Topology;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961526
