In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observercontroller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.
Decentralized centroid and formation control for multi-robot systems
CACCAVALE, Fabrizio;
2013-01-01
Abstract
In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observercontroller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.File in questo prodotto:
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