Coordinated Dynamic Behaviors in Multi-Robot Systems with Time-Varying Topologies

被引：0
|
作者：
Sabattini, Lorenzo [1 ]
Secchi, Cristian [1 ]
Levratti, Alessio [1 ]
Cocetti, Matteo [2 ]
Fantuzzi, Cesare [1 ]
机构：
[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn DISMI, Modena, Italy
[2] Univ Trento, Trento, Italy
来源：
2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2015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：
A control strategy for the execution of coordinated complex dynamic behaviors in multi-robot systems is introduced in this paper. In particular, considering a dependent-independent robot partitioning of a multi-robot system, we introduce a methodology for controlling the independent robots in such a way that, exploiting local interaction, the dependent robots are driven to track desired periodic setpoint trajectories. The control strategy is designed taking explicitly into account variations in the interconnection topology, due to relative movements among the robots.
引用
收藏
页码：6190 / 6195
页数：6
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