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ICRA
2010
IEEE

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

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Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missio
— 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 leaderfollowing 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.
Riccardo Falconi, Sven Gowal, Alcherio Martinoli
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Riccardo Falconi, Sven Gowal, Alcherio Martinoli
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