DocumentCode
529635
Title
Formation control with fault-tolerance based on rigid graph theory
Author
Azuma, Takehito ; Karube, Tatsuya
Author_Institution
Dept. of Electr. &, Electron. Eng., Utsunomiya Univ., Tochigi, Japan
fYear
2010
fDate
18-21 Aug. 2010
Firstpage
1137
Lastpage
1140
Abstract
This paper considers formation control with virtual structure and focus on the network structure of formation. First formation control problems are explained with virtual structure. Next the rigid network structure is considered. If the network structure is rigid, the formation control achieves fault-tolerance against loss of links. The result is demonstrated in numerical examples.
Keywords
fault tolerance; graph theory; mobile robots; multi-robot systems; position control; robust control; fault tolerance; formation control; network structure; rigid graph theory; virtual structure; Bismuth; Fault tolerance; Fault tolerant systems; Multiagent systems; Robots; Robustness; Simulation; fault-tolerance; formation control; rigid graph; virtual structure;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference 2010, Proceedings of
Conference_Location
Taipei
Print_ISBN
978-1-4244-7642-8
Type
conf
Filename
5602982
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