Title :
Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders
Author :
Hejin Zhang ; Zhiyun Zhao ; Ziyang Meng ; Zongli Lin
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.
Keywords :
distributed control; integration; mobile robots; multi-robot systems; containment behavior; distributed control algorithm; double integrator dynamic model; dynamic leaders; group dispersion behavior; multi-robot control platform; multi-robot distributed control algorithm; multi-robot system; Decentralized control; Dispersion; Heuristic algorithms; Mobile robots; Robot kinematics; Trajectory; Multi-agent systems; containment; distributed control; experimental platform; group dispersion;
Journal_Title :
Automatica Sinica, IEEE/CAA Journal of
DOI :
10.1109/JAS.2014.7004620
