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. (Intervento presentato al convegno 54th IEEE Conference on Decision and Control, CDC 2015 tenutosi a Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn nel 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.
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