Title :
Robust common reference estimation and formation control for multi-agent systems
Author :
Rosa, Daniele ; Franceschelli, Mauro ; Giua, Alessandro
Author_Institution :
Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Cagliari, Italy
Abstract :
In this paper we propose a decentralized coordination strategy that allows a dynamic multi-agent system to estimate a common reference point and achieve arbitrary spatial formations with respect to the estimated point. The method is robust against measurement noise of odometry or inertial navigation. We assume that the agents are mobile pointmass vehicles that do not have access to absolute positions (GPS).
Keywords :
decentralised control; inertial navigation; mobile robots; multi-robot systems; robot dynamics; common reference point estimation; decentralized coordination strategy; dynamic multiagent system; formation control; inertial navigation; mobile pointmass vehicles; odometry measurement noise; robust common reference estimation; spatial formations; Equations; Estimation; Multiagent systems; Network topology; Noise; Robustness; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6314632