Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions

Using graph theory, this paper investigates how a group of robots, endowed with local positioning (range and bearing from other robots), can be engaged in a leader- following mission whilst keeping a predefined configuration. The possibility to locally change the behaviors of the follower team to accomodate both tasks is explored. In particular, a methodology to automatically adjust the parameters of the inter-robot interactions and a nonlinear PI controller are explained and implemented. Our approach is supported by a mathematical analysis as well as real robot experiments.


Published in:
2010 IEEE International Conference on Robotics and Automation, 3207-3214
Presented at:
2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, May 3-7, 2010
Year:
2010
Publisher:
IEEE
Laboratories:




 Record created 2010-10-04, last modified 2018-09-13

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