Moving formation convergence of a group of mobile robots via decentralised information feedback

Authors:
Guangming Xie;Long Wang
Affiliations:
LTCS and College of Engineering, Intelligent Control Laboratory, Center for Systems and Control, Peking University, Beijing, China and School of Electrical and Electronics Engineering, East China ...;LTCS and College of Engineering, Intelligent Control Laboratory, Center for Systems and Control, Peking University, Beijing, China
Venue:
International Journal of Systems Science
Year:
2009

Citing 2
Cited 1

Flocks, herds and schools: A distributed behavioral model

SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Stability analysis of social foraging swarms

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Connectivity preservation for multi-agent rendezvous with link failure

Automatica (Journal of IFAC)

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this article, a decentralised information feedback mechanism is introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. It is assumed that the robots can exchange only position information according to a pre-specified communication graph. Each node represents a robot. Two robots are neighbours of each other if there is an edge between the two nodes. A feedback controller is performed for each robot by only using its own velocity information and the position information from its neighbours. It is proven that if the graph is connected, then the convergence to the moving formation of the closed-loop system is guaranteed. Several numerical simulations are presented to illustrate the results.