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
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;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
