Decentralized Discrete-Time Formation Control for Multirobot Systems
Joint Authors
Fernandez-Anaya, G.
Hernandez-Martinez, E. G.
Flores-Godoy, J. J.
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-02-26
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots.
The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions.
The analysis is addressed for the case of omnidirectional robots with numerical simulations.
American Psychological Association (APA)
Hernandez-Martinez, E. G.& Flores-Godoy, J. J.& Fernandez-Anaya, G.. 2013. Decentralized Discrete-Time Formation Control for Multirobot Systems. Discrete Dynamics in Nature and Society،Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-495436
Modern Language Association (MLA)
Hernandez-Martinez, E. G.…[et al.]. Decentralized Discrete-Time Formation Control for Multirobot Systems. Discrete Dynamics in Nature and Society No. 2013 (2013), pp.1-8.
https://search.emarefa.net/detail/BIM-495436
American Medical Association (AMA)
Hernandez-Martinez, E. G.& Flores-Godoy, J. J.& Fernandez-Anaya, G.. Decentralized Discrete-Time Formation Control for Multirobot Systems. Discrete Dynamics in Nature and Society. 2013. Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-495436
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-495436
