DocumentCode
2239658
Title
Stabilization of infinitesimally rigid formations of multi-robot networks
Author
Krick, Laura ; Broucke, Mireille E. ; Francis, Bruce A.
Author_Institution
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
fYear
2008
fDate
9-11 Dec. 2008
Firstpage
477
Lastpage
482
Abstract
This paper proposes a local gradient control law to stabilize a group of robots to a target formation. The control is derived from a potential function based on an undirected infinitesimally rigid graph that specifies the target formation. It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold describing the target formation.
Keywords
asymptotic stability; mobile robots; multi-robot systems; asymptotical stability; equilibrium manifold; infinitesimal rigidity; infinitesimally rigid formations; local gradient control law; multirobot networks; stabilization; target formation; undirected infinitesimally rigid graph; Asymptotic stability; Centralized control; Control systems; Distributed control; Graph theory; Hardware; Jacobian matrices; Robot kinematics; Stability analysis; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location
Cancun
ISSN
0191-2216
Print_ISBN
978-1-4244-3123-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2008.4738760
Filename
4738760
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