G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino
{"title":"Decentralized centroid and formation control for multi-robot systems","authors":"G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino","doi":"10.1109/ICRA.2013.6631068","DOIUrl":null,"url":null,"abstract":"In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"30","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA.2013.6631068","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 30
Abstract
In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.
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