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

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.


Published in:
Proceedings of the 2nd International Conference on Robot Communication and Coordination, 1-6
Presented at:
2nd International Conference on Robot Communication and Coordination, Odense, March 31-April 2, 2009
Year:
2009
Keywords:
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 Record created 2010-03-02, last modified 2018-09-13

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