UniSa - IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishIn 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 observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.
| Titolo: | Decentralized centroid and formation control for multi-robot systems | |
| Autori: | ||
| Data di pubblicazione: | 2013 | |
| 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 observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach. | |
| Handle: | http://hdl.handle.net/11386/4271854 | |
| ISBN: | 9781467356411 | |
| Appare nelle tipologie: | 4.1.2 Proceedings con ISBN |
File in questo prodotto:
http://hdl.handle.net/11386/4271854
Copyright © 2021