Coordinated Collective Motion of Groups of Autonomous Mobile Robots with Directed Interconnected Topology

Authors:
Hui Yu;Yongji Wang
Affiliations:
Institute of Nonlinear and Complex Systems, China Three Gorges University, Yichang, People's Republic of China 443002;Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, People's Republic of China 430074
Venue:
Journal of Intelligent and Robotic Systems
Year:
2008

Citing 0
Cited 6

Dynamics and Cooperative Object Manipulation Control of Suspended Mobile Manipulators

Journal of Intelligent and Robotic Systems
Decentralized navigation of groups of wheeled mobile robots with limited communication

IEEE Transactions on Robotics
Decentralized control of multi-agent systems for swarming with a given geometric pattern

Computers & Mathematics with Applications
Decentralized control for mobile robotic sensor network self-deployment: Barrier and sweep coverage problems

Robotica
Decentralized control of a group of mobile robots for deployment in sweep coverage

Robotics and Autonomous Systems
Stochastic Bounded Consensus Tracking of Second-Order Multi-Agent Systems with Measurement Noises and Sampled-Data

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

Coordinated collective motion of groups of autonomous mobile robots is studied. A qualitative analysis for the collective dynamics of multiple autonomous robots with directed interconnected topology using nearest neighbor rules is given. A necessary and sufficient graphical condition is proposed to guarantee that the headings of all robots converge to the same heading. The graph having a globally reachable node plays a crucial role in convergence analysis. Furthermore, we show that the globally reachable node having no neighbors serves as a group leader as a special case