Further Results on the Stability of Distance-Based Multi-Robot Formations
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 th...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/59286 |
| _version_ | 1811093214966317056 |
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| author | Dimarogonas, Dimos V. Johansson, Karl H. |
| author2 | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems |
| author_facet | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Dimarogonas, Dimos V. Johansson, Karl H. |
| author_sort | Dimarogonas, Dimos V. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T15:41:29Z |
| format | Article |
| id | mit-1721.1/59286 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:41:29Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/592862022-10-02T03:27:59Z Further Results on the Stability of Distance-Based Multi-Robot Formations Dimarogonas, Dimos V. Johansson, Karl H. Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Dimarogonas, Dimos V. Dimarogonas, Dimos V. 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. Swedish Agency for Innovation Systems Swedish Defence Materiel Administration Swedish Research Council EU FeedNetBack STREP FP7 project 2010-10-13T18:04:17Z 2010-10-13T18:04:17Z 2009-07 2009-06 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-4523-3 0743-1619 INSPEC Accession Number: 10775439 http://hdl.handle.net/1721.1/59286 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. en_US http://dx.doi.org/10.1109/ACC.2009.5160238 American Control Conference, 2009. ACC '09 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. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Dimarogonas, Dimos V. Johansson, Karl H. Further Results on the Stability of Distance-Based Multi-Robot Formations |
| title | Further Results on the Stability of Distance-Based Multi-Robot Formations |
| title_full | Further Results on the Stability of Distance-Based Multi-Robot Formations |
| title_fullStr | Further Results on the Stability of Distance-Based Multi-Robot Formations |
| title_full_unstemmed | Further Results on the Stability of Distance-Based Multi-Robot Formations |
| title_short | Further Results on the Stability of Distance-Based Multi-Robot Formations |
| title_sort | further results on the stability of distance based multi robot formations |
| url | http://hdl.handle.net/1721.1/59286 |
| work_keys_str_mv | AT dimarogonasdimosv furtherresultsonthestabilityofdistancebasedmultirobotformations AT johanssonkarlh furtherresultsonthestabilityofdistancebasedmultirobotformations |