Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.

  

Formation control of autonomous robots based on cooperative behavior

Author(s):

F. Dörfler, B. Francis
Conference/Journal:

European Control Conference (ECC), Budapest, Hungary, pp. 2432-2437
Abstract:

This paper considers the formation control problem for autonomous robots, where the target formation is specified as a minimally rigid formation. A distributed control law based on potential functions is derived from a directed sensor graph and relies on the graph matrices only. By methods of inverse optimality a certain class of sensor graphs is identified that is related to a cooperative behavior among the robots. These graphs are referred to as cooperative graphs, and undirected graphs, directed cycles, and directed open chain graphs can be identified as such graphs. Cooperative graphs admit a local stability result of the target formation together with a guaranteed region of attraction, that depends on the rigidity properties of the formation.

Year:

2009
Type of Publication:

(01)Article
Supervisor:



File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@InProceedings { D_rFra:2009:IFA_4924,
    author={F. D{\"o}rfler and B. Francis},
    title={{Formation control of autonomous robots based on cooperative
	  behavior}},
    booktitle={European Control Conference (ECC)},
    pages={2432--2437},
    year={2009},
    address={Budapest, Hungary},
    month=aug,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4924}
}
Permanent link