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- Title
Distributed control of compact formations for multi-robot swarms.
- Authors
Campos, Gabriel Rodrigues de; Dimarogonas, Dimos V; Seuret, Alexandre; Johansson, Karl H
- Abstract
This article proposes a distributed algorithm for the compact deployment of robots, using both distance- and angular-based arguments in the controllers' design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph's connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.
- Subjects
DISTRIBUTED algorithms; MULTIAGENT systems; INTELLIGENT transportation systems; QUALITY of service; ROBOT control systems
- Publication
IMA Journal of Mathematical Control & Information, 2018, Vol 35, Issue 3, p805
- ISSN
0265-0754
- Publication type
Article
- DOI
10.1093/imamci/dnw073