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Paper TuD05.3

Wang, Hua (Stevens institute of technology), Guo, Yi (Stevens Institute of Technology)

Minimal Persistence Control on Dynamic Directed Graphs for Multi-Robot Formation

Scheduled for presentation during the Regular Session "Multi-Robot Systems II" (TuD05), Tuesday, May 15, 2012, 17:00−17:15, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Networked Robots, Planning, Scheduling and Coordination, Distributed Robot Systems

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.

 

 

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