Abstract
Formation control is an important issue of motion coordination of Multi-agent Robots Systems. The goal is to coordinate a group of agents to achieve a desired formation pattern. The control strategies are decentralized because every robot does not possess information about the positions and goals of all the other robots. Based on the formation graphs properties and the local potential functions approach, we obtain a formal result about global convergence to the desired pattern for any formation graph. Also, we characterize the topologies of the formation graphs where the centroid of positions remains stationary. Finally, the control approach is extended to the case of unicycle-type robots.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: 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.