Robust formation control of multi-robot systems subject to interconnection time-delays using minimum dynamic communication

Junjie Zhang; Suhada Jayasuriya

doi:10.1117/12.819218

30 April 2009 Robust formation control of multi-robot systems subject to interconnection time-delays using minimum dynamic communication

Junjie Zhang, Suhada Jayasuriya

Author Affiliations +

Proceedings Volume 7332, Unmanned Systems Technology XI; 73320I (2009) https://doi.org/10.1117/12.819218
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

In this research, firstly, a Minimum Spanning Tree-based local communication algorithm is employed to incur less data propagation. Furthermore, approvingly it always preserves network connectivity and is favorable to practical implementation as well. Secondly, desired rigid formation pattern is achieved by utilizing graph Laplacian and feedback control theory. Then emphasis is placed upon the time-delay influence on the acquired formation in the situation where interconnection time-delays occur in certain information flow channels while robots are communicating with spatially separated neighboring robots. A robust stabilization scheme is discussed to largely improve or even recover the destroyed formation pattern. Simulations verify the effectiveness of the proposed approaches to formation control.

Citation Download Citation

Junjie Zhang and Suhada Jayasuriya "Robust formation control of multi-robot systems subject to interconnection time-delays using minimum dynamic communication", Proc. SPIE 7332, Unmanned Systems Technology XI, 73320I (30 April 2009); https://doi.org/10.1117/12.819218

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available