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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 |
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