Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information
Falconi, Riccardo; Gowal, Sven; Martinoli, Alcherio
2009

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Abstract

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.

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Title Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information
Author(s) Falconi, Riccardo ; Gowal, Sven ; Martinoli, Alcherio
Published in Proceedings of the 2nd International Conference on Robot Communication and Coordination
Pages 1-6
Conference 2nd International Conference on Robot Communication and Coordination, Odense, March 31-April 2, 2009
Date 2009
Keywords
DOI https://doi.org/10.4108/ICST.ROBOCOMM2009.5865
Additional link URL
Laboratories DISAL
Record Appears in Scientific production and competences > ENAC - School of Architecture, Civil and Environmental Engineering > IIE - Environmental Engineering Institute > DISAL - Distributed Intelligent Systems and Algorithms Laboratory
Peer-reviewed publications
Conference Papers
Work produced at EPFL
Published
Record creation date 2010-03-02

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