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