Abstract
This paper investigates the circular formation control problem of multiple unicycle-type mobile robots under a directed sensor graph. The topology of the sensor graph among all robots is described by a directed graph containing a spanning tree, and the node denoting the center is only required to be globally reachable in the sensor graph. A dynamic control law is developed such that the multi-robot systems with speed constraint are able to globally converge to a circular formation prescribed by a stationary center, a radius, and a spacing configuration. Remarkably, the proposed control law does not rely on any communication, and only requires each robot to use local measurements with respect to its neighbors based on its local coordinate frame, which makes it feasible to implement this control law in a decentralized manner. The global asymptotic stability of the closed-loop multi-robot systems is established by small gain theorem of which the small-gain condition is guaranteed by a low gain parameter in the designed observer.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
