Abstract
Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.
Highlights
In the last years, the control community has a special interest in the study of the coordination of multiple mobile robots [1]
This idea originated in the observation and simulation of the collective behavior of some biological entities, like ants, fishes, or birds, where they achieve complex group behaviors trough some network communication channels and an ordered motion coordination
The collective behavior is induced by survival intentions and the group behavior exhibits a complex selforganization constructed by the local interactions of the team members
Summary
The control community has a special interest in the study of the coordination of multiple mobile robots [1]. The natural behavior of biological entities, as those studied by Reynolds, has inspired the motion coordination of mobile robots, for instance [6,7,8] Another cooperative control strategy deals with the reproduction of complex behaviors observed in herd of animals which more intentional than being innate or reactive to survival, for instance, the prey-hunter behavior, hierarchical social organization, group searching and rescue tasks, and else. A well-defined FG must be connected; that is, there are no isolated nodes, and for every edge is associated a relative vector of desired position between robots [9] This FG-based scheme can provide specific postures of robots in the formation and the facility to analyze eventual changes of formation and leader roles, intermittent and delayed communication, and other dynamic behaviors [15, 16].
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