DocumentCode :
2440303
Title :
Formation control of multi-robot systems
Author :
Liu, Shuai ; Chen, Chunlin ; Xie, Lihua ; Chang, Yeong-Hwa
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore
fYear :
2010
fDate :
7-10 Dec. 2010
Firstpage :
1057
Lastpage :
1062
Abstract :
In this paper, we consider formation control problem for multi-robot systems under an undirected communication network. All the robots will track a leader, while form a desired formation. The leader can be static or dynamic. A distributed formation controller with neighbors´ input information is applied. For practical implementation, control input information from neighbors can only be received after some time delays. It is therefore shown that the distributed control protocol using time-delayed control input information from neighbors guarantees the formation of the multi-agent system for any nonnegative delay. We will implement the new protocol on the Amigo robots. The experimental results will demonstrate the effectiveness of the new protocol.
Keywords :
distributed control; mobile robots; multi-agent systems; multi-robot systems; Amigo robots; distributed control protocol; distributed formation controller; multi-robot system; multiagent system; nonnegative delay; time-delayed control input information; undirected communication network; Delay effects; Lead; Multiagent systems; Protocols; Robot kinematics; Topology; Formation control; delayed input; multi-robot system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
Type :
conf
DOI :
10.1109/ICARCV.2010.5707964
Filename :
5707964
Link To Document :
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