Further Results on the Stability of Distance-Based Multi-Robot Formations
Name
Dimarogonas-2009-Further Results on the Stability of Distance-Based Multi-Robot Formations.pdf
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1.16 MB
Format
Adobe PDF
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Author(s)
Dimarogonas, Dimos V.
Johansson, Karl H.
Date Issued
July 2009
Journal
American Control Conference, 2009. ACC '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Dimarogonas, D.V., and K.H. Johansson. “Further results on the stability of distance-based multi-robot formations.” American Control Conference, 2009. ACC '09. 2009. 2972-2977. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ACC.2009.5160238
