Paper Info
Title
Design of a Switched Control Lyapunov Function for Mobile Robots Aggregation
Abstract
This paper proposes a novel aggregation strategy for a network of mobile wheeled robots with constrained dynamics. The strategy assumes a centralized control architecture, which collects all the robot positions and generates the control signals sent to the robots in the network. To do this a control Lyapunov function (CLF) based approach is designed relying on a switched formulation of the robot models. Such a formulation is in fact made possible by constraining the robot motion only to rotation and roto-translation in the plane. Moreover, a collision avoidance objective is taken into account in the design of the CLF. The approach is analyzed, and simulations as well as experiments with six robots show its effectiveness and practical applicability.
Year
DOI
Venue
2022
10.5220/0011319200003271
PROCEEDINGS OF THE 19TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (ICINCO)
Keywords
DocType
Citations 
Swarm Robotics, Mobile Robots, Switched Systems, Control Lyapunov Functions, Collision Avoidance
Conference
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Chrystian Edmundo Pool Yuca Huanca100.34
Gian Paolo Incremona202.70
Roderich Gross300.34
Patrizio Colaneri400.34