The International Journal of Robotics Research · 2014 · 158 citations · 37 references
EngineeringRobotics EngineeringMobile RoboticsMulti-robot SystemsRoboticsDecentralized ControlDistributed ControlFormation ControlDecentralized Formation ControlDistributed Cooperative ControlDistributed Formation ControlDistributed Robot ControlDistributed Robotic SystemsMulti-robot System ArchitectureTime-varying Formation Control
The paper proposes a distributed controller–observer scheme to track the centroid and relative formation of a multi‑robot system with first‑order dynamics. The approach employs distributed observers for state estimation and motion control to track a time‑varying centroid and formation, proves convergence for various topologies and input constraints, and is validated experimentally on five wheeled mobile robots. The controller–observer scheme is shown to converge for strongly connected non‑switching and balanced strongly connected switching topologies.
In this paper, a distributed controller–observer schema for tracking control of the centroid and of the relative formation of a multi-robot system with first-order dynamics is presented. Each robot of the team uses a distributed observer to estimate the overall system state and a motion control strategy for tracking control of time-varying centroid and formation. Proof of the overall convergence of the controller–observer schema for different kinds of connection topologies, as well as for the cases of unsaturated and saturated control inputs is presented. In particular, the solution is proven to work in the case of strongly connected non-switching topologies and in the case of balanced strongly connected switching topologies. In order to complete the work, the approach is validated by experimental tests with a team of five wheeled mobile robots.
37
Consensus and Cooperation in Networked Multi-Agent Systems
Reza Olfati‐Saber, J.A. Fax, Richard M. Murray · Proceedings of the IEEE · 2007 · 10.3K citations