Decentralized centroid and formation control for multi-robot systems

Author

Antonelli, Gianluca ; Arrichiello, Filippo ; Caccavale, F. ; Marino, Armando

Author_Institution

Univ. of Cassino & Southern Lazio, Cassino, Italy

fYear

2013

fDate

6-10 May 2013

Firstpage

3511

Lastpage

3516

Abstract

In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.

Keywords

decentralised control; multi-robot systems; networked control systems; observers; position control; stability; connectivity graph; control variables; convergence properties; decentralized centroid; decentralized control strategy; distributed observer-controller scheme; formal stability analysis; formation control; networked multi-robot systems; Eigenvalues and eigenfunctions; Observers; Robot kinematics; Robot sensing systems; Topology; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6631068

Filename

6631068