Dynamic region following formation control for a swarm of robots
Name
Hou-2009-Dynamic region following formation control for a swarm of robots.pdf
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423.39 KB
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Adobe PDF
Checksum (MD5)
4174b039a10260a7b64b8e2909253872
Author(s)
Slotine, Jean-Jacques E.
Cheah, C. C.
Hou, S. P.
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Hou, S.P., C.C. Cheah, and J.J.E. Slotine. “Dynamic region following formation control for a swarm of robots.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 1929-1934. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
This paper presents a dynamic region following formation control method for a swarm of robots. In this control strategy, a swarm of robots shall move together as a group inside a dynamic region that can rotate or scale to enable the robots to adjust the formation. Various desired shapes can be formed by choosing appropriate functions. Unlike existing formation control methods, the proposed method do not need to have specific identities or orders in the group but yet dynamic formation can be formed for a large group of robots. This enables a swarm of robots to adjust the formation during the course of maneuver. The system is also scalable in the sense that any robot can move into the formation or leave the formation without affecting the other robots. Lyapunov-like function is presented for convergence analysis of the multi-robot systems. Simulation results are presented to illustrate the performance of the proposed controller.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Nonlinear Systems Laboratory
Terms of Use
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/ROBOT.2009.5152422
