Publication Date:
2015
Short description:
Coordinated dynamic behaviors in multi-robot systems with time-varying topologies / Sabattini, Lorenzo; Secchi, Cristian; Levratti, Alessio; Cocetti, Matteo; Fantuzzi, Cesare. - 2016-:(2015), pp. 6190-6195. ( 54th IEEE Conference on Decision and Control, CDC 2015 Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn 2015) [10.1109/CDC.2015.7403193].
abstract:
A control strategy for the execution of coordinated complex dynamic behaviors in multi-robot systems is introduced in this paper. In particular, considering a dependent-independent robot partitioning of a multi-robot system, we introduce a methodology for controlling the independent robots in such a way that, exploiting local interaction, the dependent robots are driven to track desired periodic setpoint trajectories. The control strategy is designed taking explicitly into account variations in the interconnection topology, due to relative movements among the robots.
Iris type:
Relazione in Atti di Convegno
Keywords:
Laplace equations; Mathematical model; Multi-robot systems; Robot kinematics; Topology; Trajectory; Control and Systems Engineering; Modeling and Simulation; Control and Optimization
List of contributors:
Sabattini, Lorenzo; Secchi, Cristian; Levratti, Alessio; Cocetti, Matteo; Fantuzzi, Cesare
Book title:
Proceedings of the IEEE Conference on Decision and Control
Published in: