2nd International ICST Conference on Robot Communication and Coordination

Research Article

Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

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  • @INPROCEEDINGS{10.4108/ICST.ROBOCOMM2009.5865,
        author={Riccardo Falconi and Sven Gowal and Jim Pugh and Alcherio Martinoli},
        title={Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information},
        proceedings={2nd International ICST Conference on Robot Communication and Coordination},
        proceedings_a={ROBOCOMM},
        year={2009},
        month={5},
        keywords={},
        doi={10.4108/ICST.ROBOCOMM2009.5865}
    }
    
  • Riccardo Falconi
    Sven Gowal
    Jim Pugh
    Alcherio Martinoli
    Year: 2009
    Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information
    ROBOCOMM
    ICST
    DOI: 10.4108/ICST.ROBOCOMM2009.5865
Riccardo Falconi, Sven Gowal, Jim Pugh, Alcherio Martinoli

    Abstract

    Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynolds’ rules [1]. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning capabilities. The convergence of our approach is mathematically proven and applied to a realistic robotic platform.