Coordinated Motion for Multi-Robot Systems Under Time Varying Communication Topologies

被引：0
|
作者：
Sabattini, Lorenzo [1 ]
Secchi, Cristian [1 ]
Lotti, Marco [1 ]
Fantuzzi, Cesare [1 ]
机构：
[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn DISMI, Modena, Italy
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2016年
关键词：
CONSENSUS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a control strategy for obtaining cooperative tracking of periodic setpoint trajectories in multi-robot systems. A heterogeneous group of robots is considered: a few independent robots are used as a control input for the system, with the aim of controlling the position of the remaining robots, namely the dependent ones. The control strategy presented in this paper explicitly considers changes in the communication topology among the robots. These changes happen as the system evolves, since robots are equipped with finite range communication devices.
引用
收藏
页码：5255 / 5260
页数：6
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