Responsiveness and manipulability of formations of multi-robot networks

Author

Kawashima, Hitoshi ; Guangwei Zhu ; Jianghai Hu ; Egerstedt, M.

Author_Institution

Grad. Sch. of Inf., Kyoto Univ., Uji, Japan

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

4622

Lastpage

4628

Abstract

This paper unifies the previously defined instantaneous measures of responsiveness in multi-agent systems, namely those of stiffness and manipulability. These concepts are used for characterizing how a networked multi-agent system responds to perturbation of agents or to exogenous movements of its leader nodes. The resulting unified notion of a system´s responsiveness provides us with a precise characterization of the effect of different choices of leader nodes and interaction topologies have on how easy or hard it is to control the network.

Keywords

multi-robot systems; optimisation; position control; topology; agent perturbation; exogenous movement; formation manipulability; formation responsiveness; instantaneous measure; interaction topology; leader node; multirobot network; networked multiagent system; optimization problem; stiffness; system responsiveness; Convergence; Educational institutions; Eigenvalues and eigenfunctions; Hafnium; Indexes; Lead; Radio frequency;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426291

Filename

6426291