Further results on the stability of distance-based multi-robot formations

Authors:
Dimos V. Dimarogonas;Karl H. Johansson
Affiliations:
Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA;KTH ACCESS Linnaeus Center, School of Electrical Engineering, Royal Institute of Technology, Stockholm, Sweden
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 4
Cited 1

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Abstract

An important class of multi-robot formations is specified by desired distances between adjacent robots. In previous work, we showed that distance-based formations can be globally stabilized by negative gradient, potential field based, control laws, if and only if the formation graph is a tree. In this paper, we further examine the relation between the cycle space of the formation graph and the resulting equilibria of cyclic formations. In addition, the results are extended to the case of distance based formation control for nonholonomic agents. The results are supported through computer simulations.