In this paper we address the problem of formation control of a group of robots that exchange information over a delayed communication network. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled system as a set of elements exchanging energy along a power preserving interconnection structure. We exploit the scattering framework to stabilize the robots in the desired formation independently of any delay in the communication of the information.
Formation Control Over Delayed Communication Networks / Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2008), pp. 563-568. (Intervento presentato al convegno 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 tenutosi a Pasadena, CA, usa nel Maggio 2008) [10.1109/ROBOT.2008.4543266].
Formation Control Over Delayed Communication Networks
SECCHI, Cristian;FANTUZZI, Cesare
2008
Abstract
In this paper we address the problem of formation control of a group of robots that exchange information over a delayed communication network. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled system as a set of elements exchanging energy along a power preserving interconnection structure. We exploit the scattering framework to stabilize the robots in the desired formation independently of any delay in the communication of the information.
Pubblicazioni consigliate
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
