Abstract
A distributed formation control scheme of multi-robot systems for bipartite consensus under communication delays is presented in this paper. The bipartite consensus protocol under communication delays is first proposed. Under the bipartite consensus protocol, a necessary and sufficient condition is then presented for achieving bipartite consensus of the multi-agent system without time-delays. For the system with time-delays, a sufficient condition to asymptotically achieve the bipartite consensus is proposed. Furthermore, a universal multi-robot formation control protocol with communication delays is put forward according to the given bipartite consensus protocol. As an example, the bipartite consensus protocol under communication delays is applied to multi-robot formation control. Finally, a number of simulations are proposed to demonstrate the theoretical contributions of this work.
Highlights
Multi-robot systems are more suitable than a single robot for accomplishing complex tasks and varied scenarios due to their cooperative ability
Chen proposed a leader-follower formation controller based on RHLF control architecture to discuss multi-robot formation control issues [4]
The leaderfollower method of multi-robot formation control was provided based on the internal model in Wang’s paper [5], The associate editor coordinating the review of this manuscript and approving it for publication was Jiahu Qin
Summary
Multi-robot systems are more suitable than a single robot for accomplishing complex tasks and varied scenarios due to their cooperative ability. C. Zong et al.: Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays widely studied [12]–[18]. Hawwary presented circular formation control methods for multi-agent systems [20] Communication delay is another crucial problem in consensus-based formation control [21]–[24]. In view of previous works, the distributed multi-robot formation control problem is studied based on bipartite consensus under communication delays. Different from [5], [6], [8] and [9], the distributed multirobot formation control issue is studied based on bipartite consensus under communication delays.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
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 call
