In this paper we address the problem of formation control of a group ofrobots that exchange information over a communication network characterized by anon negligible delay.We consider the Virtual Body Artificial Potential approach forstabilizing a group of robots at a desired formation. We show that it is possible tomodel the controlled group of robots as a port-Hamiltonian system and we exploitthe scattering framework to achieve a passive behavior of the controlled system andto stabilize the robots in the desired formation independently of any communicationdelay.
Formation Control over Delayed Communication Networks / Secchi, Cristian; Fantuzzi, Cesare. - STAMPA. - 2009:(2009), pp. 59-74. (Intervento presentato al convegno National Meeting of the Societa-dei-Docenti-e-Ricercatori-di-Automatica tenutosi a Vicenza, ITALY nel SEP 11-13, 2008) [10.1007/978-3-642-03199-1_4].
Formation Control over Delayed Communication Networks
SECCHI, Cristian;FANTUZZI, Cesare
2009
Abstract
In this paper we address the problem of formation control of a group ofrobots that exchange information over a communication network characterized by anon negligible delay.We consider the Virtual Body Artificial Potential approach forstabilizing a group of robots at a desired formation. We show that it is possible tomodel the controlled group of robots as a port-Hamiltonian system and we exploitthe scattering framework to achieve a passive behavior of the controlled system andto stabilize the robots in the desired formation independently of any communicationdelay.Pubblicazioni consigliate
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