A control strategy for the execution of coordinated complex dynamic behaviors in multi-robot systems is introduced in this paper. In particular, considering a dependent-independent robot partitioning of a multi-robot system, we introduce a methodology for controlling the independent robots in such a way that, exploiting local interaction, the dependent robots are driven to track desired periodic setpoint trajectories. The control strategy is designed taking explicitly into account variations in the interconnection topology, due to relative movements among the robots.

Coordinated dynamic behaviors in multi-robot systems with time-varying topologies / Sabattini, Lorenzo; Secchi, Cristian; Levratti, Alessio; Cocetti, Matteo; Fantuzzi, Cesare. - 2016-:(2015), pp. 6190-6195. ( 54th IEEE Conference on Decision and Control, CDC 2015 Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn 2015) [10.1109/CDC.2015.7403193].

Coordinated dynamic behaviors in multi-robot systems with time-varying topologies

SABATTINI, Lorenzo;SECCHI, Cristian;LEVRATTI, ALESSIO;FANTUZZI, Cesare
2015

Abstract

A control strategy for the execution of coordinated complex dynamic behaviors in multi-robot systems is introduced in this paper. In particular, considering a dependent-independent robot partitioning of a multi-robot system, we introduce a methodology for controlling the independent robots in such a way that, exploiting local interaction, the dependent robots are driven to track desired periodic setpoint trajectories. The control strategy is designed taking explicitly into account variations in the interconnection topology, due to relative movements among the robots.
UB: PY; AOP
2015
2015
no
Inglese
54th IEEE Conference on Decision and Control, CDC 2015
Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn
2015
WOS:000381554506062
2-s2.0-84961992363
Proceedings of the IEEE Conference on Decision and Control
2016-
6190
6195
6
9781479978861
9781479978861
Institute of Electrical and Electronics Engineers Inc.
345 E 47TH ST, NEW YORK, NY 10017 USA
Laplace equations; Mathematical model; Multi-robot systems; Robot kinematics; Topology; Trajectory; Control and Systems Engineering; Modeling and Simulation; Control and Optimization
Sabattini, Lorenzo; Secchi, Cristian; Levratti, Alessio; Cocetti, Matteo; Fantuzzi, Cesare
Atti di CONVEGNO::Relazione in Atti di Convegno
273
5
Coordinated dynamic behaviors in multi-robot systems with time-varying topologies / Sabattini, Lorenzo; Secchi, Cristian; Levratti, Alessio; Cocetti, Matteo; Fantuzzi, Cesare. - 2016-:(2015), pp. 6190-6195. ( 54th IEEE Conference on Decision and Control, CDC 2015 Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn 2015) [10.1109/CDC.2015.7403193].
reserved
info:eu-repo/semantics/conferenceObject
File in questo prodotto:
File Dimensione Formato  
15CDCa.pdf

Accesso riservato

Tipologia: VOR - Versione pubblicata dall'editore
Dimensione 219 kB
Formato Adobe PDF
  Visualizza/Apri   Richiedi una copia
219 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1113397
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? 1
social impact