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].