Minimal persistence control on dynamic directed graphs for multi-robot formation

Hua Wang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Pages1557-1563
Number of pages7
DOIs
StatePublished - 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/TerritoryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

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