TY - GEN
T1 - Minimal persistence control on dynamic directed graphs for multi-robot formation
AU - Wang, Hua
AU - Guo, Yi
PY - 2012
Y1 - 2012
N2 - Given a multi-robot system, in order to preserve its geometric shape in a formation, the minimal persistence control addresses questions: (1) what pairwise communication connections have to be prescribed to minimize communication channels, and (2) which orientations of communication links are to be placed between robots. In this paper, we propose a minimal persistence control problem on multi-robot systems with underlying graphs being directed and dynamically switching. We develop distributed algorithms based on the rank of the rigidity matrix and the pebble game method. The feasibility of the proposed methods is validated by simulations on the robotic simulator Webots and experiments on e-puck robot platform.
AB - Given a multi-robot system, in order to preserve its geometric shape in a formation, the minimal persistence control addresses questions: (1) what pairwise communication connections have to be prescribed to minimize communication channels, and (2) which orientations of communication links are to be placed between robots. In this paper, we propose a minimal persistence control problem on multi-robot systems with underlying graphs being directed and dynamically switching. We develop distributed algorithms based on the rank of the rigidity matrix and the pebble game method. The feasibility of the proposed methods is validated by simulations on the robotic simulator Webots and experiments on e-puck robot platform.
UR - http://www.scopus.com/inward/record.url?scp=84864472714&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864472714&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224730
DO - 10.1109/ICRA.2012.6224730
M3 - Conference contribution
AN - SCOPUS:84864472714
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1557
EP - 1563
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -