Journal ArticleDOI
Stabilisation of infinitesimally rigid formations of multi-robot networks
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It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold of the multivehicle system.Abstract:
This article considers the design of a formation control for multivehicle systems that uses only local information. The control is derived from a potential function based on an undirected infinitesimally rigid graph that specifies the target formation. A potential function is obtained from the graph, from which a gradient control is derived. Under this controller the target formation becomes a manifold of equilibria for the multivehicle system. It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold. A complete study of the stability of the regular polygon formation is presented and results for directed graphs are presented as well. Finally, the controller is validated experimentally.read more
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Proceedings ArticleDOI
Formation control of mobile agent groups based on localization
Kwang-Kyo Oh,Hyo-Sung Ahn +1 more
TL;DR: It is shown that the formation of a single-integrator modeled agent group globally exponentially converges to the desired formation with the estimated formation globally exponentially convergence to the actual formation up to translation if and only if the interaction graph of the group contains a spanning tree.
Journal ArticleDOI
Topological Reconfiguration Planning for a Variable Topology Truss
TL;DR: This paper gives a procedure to compute all possible distinct reconfiguration actions for a given robot topology, and exhaustively enumerates all possible reconfigurable topologies for VTTs up to 29 members.
Journal ArticleDOI
Cooperative Event-Based Rigid Formation Control
TL;DR: In this article, a centralized event-based formation control system is proposed, in which a central event controller determines the next triggering time and broadcasts the event signal to all the agents for control input update.
Journal ArticleDOI
Distance-Based Formation Control With Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems
Yun Ho Choi,Doik Kim +1 more
TL;DR: In this article, a distance-based formation control with the goal assignment for multiple nonholonomic mobile robots is presented, which helps to avoid the convergence to undesirable formations caused by the gradient-based control law.
Proceedings ArticleDOI
Directed Formation Control of n Planar Agents with Distance and Area Constraints
TL;DR: In this article, a distance and area-based scheme for the formation control of n-agent systems in two dimensions using directed graphs and the single-integrator model is proposed.
References
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Posted Content
Coverage control for mobile sensing networks
TL;DR: This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.