Name
Title | ||
|---|---|---|
Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions |
Abstract | ||
|---|---|---|
Using graph theory, this paper investigates how a group of robots, endowed with local positioning (range and bearing from other robots), can be engaged in a leader-following mission whilst keeping a predefined configuration. The possibility to locally change the behaviors of the follower team to accomodate both tasks is explored. In particular, a methodology to automatically adjust the parameters of the inter-robot interactions and a nonlinear PI controller are explained and implemented. Our approach is supported by a mathematical analysis as well as real robot experiments. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBOT.2010.5509139 | ICRA |
Keywords | Field | DocType |
PI control,distributed control,graph theory,mathematical analysis,multi-agent systems,multi-robot systems,nonlinear control systems,position control,vehicles,escorting missions,graph based distributed control,graph theory,inter-robot interactions,leader-following mission,local positioning information,mathematical analysis,nonholonomic vehicles,nonlinear PI controller,robots | Graph theory,Kinematics,Holonomic,Telecommunications network,Control theory,Multi-agent system,Automatic control,Control engineering,Engineering,Robot,Mobile robot | Conference |
Volume | Issue | ISSN |
2010 | 1 | 1050-4729 |
Citations | PageRank | References |
7 | 0.60 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Riccardo Falconi | 1 | 22 | 4.29 |
| Sven Gowal | 2 | 100 | 14.85 |
| Alcherio Martinoli | 3 | 1466 | 154.27 |