Further Results on the Stability of Distance-Based Multi-Robot Formations

被引：75
作者：
Dimarogonas, Dimos V. [1 ]
Johansson, Karl H. [2 ]
机构：
[1] MIT, Lab Informat & Decis Syst, 77 Massachusetts Ave, Cambridge, MA 02139 USA
[2] Royal Inst Technol, KTH ACCESS Linnaeus Ctr, Sch Elect Engn, Stockholm, Sweden
来源：
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年
基金：
瑞典研究理事会;
关键词：
FLOCKING; SYSTEMS;
D O I：
10.1109/ACC.2009.5160238
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An important class of Multi-robot formations is specified by desired distances between adjacent robots. In previous work, we showed that distance-based formations can be globally stabilized by negative gradient, potential field based, control laws, if and only if the formation graph is a tree. In this paper, we further examine the relation between the cycle space of the formation graph and the resulting equilibria of cyclic formations. In addition, the results are extended to the case of distance based formation control for nonholonomic agents. The results are supported through computer simulations.
引用
收藏
页码：2972 / +
页数：3
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