Stability and Control of Collective Systems

Authors:
R. D. Robinett, Iii;J. E. Hurtado
Affiliations:
Energy &/ Transportation Security Center, Sandia National Laboratories, P.O. Box 5800, MS 0741, Albuquerque, NM 87185-0741, U.S.A./ e-mail: rdrobin@sandia.gov;Department of Aerospace Engineering, Texas A&/M University, 3141 TAMU, College Station, TX 77843-3141, U.S.A./ e-mail: jehurtado@tamu.edu
Venue:
Journal of Intelligent and Robotic Systems
Year:
2004

Citing 1
Cited 3

Decentralized Control for a Swarm of Vehicles Performing Source Localization

Journal of Intelligent and Robotic Systems

Decentralized Control for a Swarm of Vehicles Performing Source Localization

Journal of Intelligent and Robotic Systems
Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm

Autonomous Robots
Hamiltonian surface shaping with information theory and exergy#47;entropy control for collective plume tracing

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Abstract

In this paper, decentralized, distributed feedback control laws are presented for cooperative robotic systems whose task is to localize unknown sources. The control laws follow from a second order representation of the source field. The stability of the proposed feedback control laws for the individual robots, and for the entire robot collective, is demonstrated using Lyapunov's direct method and a vector Lyapunov approach. Additional feedback control laws are proposed to achieve an additional level of coordination. In particular, control laws that achieve desired formations surrounding a localized source are developed.