Title :
Graph-based distributed control for non-holonomic vehicles engaged in a reconfiguration task using local positioning information
Author :
Falconi, Riccardo ; Gowal, Sven ; Pugh, Jim ; Martinoli, Alcherio
Author_Institution :
Dipt. di Elettron., Inf. e Sist. of the Univ. di Bologna, Bologna
fDate :
March 31 2009-April 2 2009
Abstract :
Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynolds´ rules [1]. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning capabilities. The convergence of our approach is mathematically proven and applied to a realistic robotic platform.
Keywords :
convergence; distributed control; graph theory; mobile robots; position control; convergence; graph-based distributed control; local positioning information; nonholonomic vehicle; realistic robotic platform; reconfiguration task; Convergence; Distributed control; Graph theory; Intelligent robots; Laplace equations; Mobile robots; Multiagent systems; Robot kinematics; Steady-state; Vehicles;
Conference_Titel :
Robot Communication and Coordination, 2009. ROBOCOMM '09. Second International Conference on
Conference_Location :
Odense
Print_ISBN :
978-963-9799-51-6
Electronic_ISBN :
978-963-9799-51-6
