Dynamic region following formation control for a swarm of robots
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 forme...
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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/1721.1/59379 https://orcid.org/0000-0002-7161-7812 |
| _version_ | 1826215195754627072 |
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| author | Slotine, Jean-Jacques E. Cheah, C. C. Hou, S. P. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Slotine, Jean-Jacques E. Cheah, C. C. Hou, S. P. |
| author_sort | Slotine, Jean-Jacques E. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T16:18:41Z |
| format | Article |
| id | mit-1721.1/59379 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:18:41Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/593792022-10-02T07:38:29Z Dynamic region following formation control for a swarm of robots Slotine, Jean-Jacques E. Cheah, C. C. Hou, S. P. Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Nonlinear Systems Laboratory Slotine, Jean-Jacques E Slotine, Jean-Jacques E. 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. 2010-10-15T17:42:55Z 2010-10-15T17:42:55Z 2009-07 2009-05 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-2788-8 1050-4729 INSPEC Accession Number: 10748995 http://hdl.handle.net/1721.1/59379 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. https://orcid.org/0000-0002-7161-7812 en_US http://dx.doi.org/10.1109/ROBOT.2009.5152422 IEEE International Conference on Robotics and Automation, 2009. ICRA '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 | Slotine, Jean-Jacques E. Cheah, C. C. Hou, S. P. Dynamic region following formation control for a swarm of robots |
| title | Dynamic region following formation control for a swarm of robots |
| title_full | Dynamic region following formation control for a swarm of robots |
| title_fullStr | Dynamic region following formation control for a swarm of robots |
| title_full_unstemmed | Dynamic region following formation control for a swarm of robots |
| title_short | Dynamic region following formation control for a swarm of robots |
| title_sort | dynamic region following formation control for a swarm of robots |
| url | http://hdl.handle.net/1721.1/59379 https://orcid.org/0000-0002-7161-7812 |
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