Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

• Presented at: 2nd International Conference on Robot Communication and Coordination, Odense, March 31-April 2, 2009
• Published in: Proceedings of the 2nd International Conference on Robot Communication and Coordination, p. 1-6
• Publication date: 2009

Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynold's rules. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning capabilities. The convergence of our approach is mathematically proven and applied to a realistic robotic platform.

Keywords: distributed control, multi-robot system, consensus algorithm, local positioning, reconfiguration task

Reference

• DISAL-CONF-2010-005
• doi:10.4108/ICST.ROBOCOMM2009.5865

• URL: http://www.robocomm.org/

Record created on 2010-03-02, modified on 2012-03-20