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

Falconi, RiccardoGowal, SvenMartinoli, Alcherio2010-03-022010-03-022010-03-02200910.4108/ICST.ROBOCOMM2009.5865https://infoscience.epfl.ch/handle/20.500.14299/47778Formation 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.distributed controlmulti-robot systemconsensus algorithmlocal positioningreconfiguration taskGraph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Informationtext::conference output::conference proceedings::conference paper