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

Riccardo Falconi; Sven Gowal; Jim Pugh; Alcherio Martinoli

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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Cite: BibTeX Plain Text

@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.

Published: 2009-05-19
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2009.5865

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

Abstract

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