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Title: Stabilization of multiple robots on stable orbits via local sensing
Authors: Hsieh, Mong Ying A
Loizou, Savvas 
Keywords: Computational complexity;Feedback control systems;Adaptive control systems;Convergence
Issue Date: 2007
Publisher: IEEE
Source: IEEE International Conference on Robotics and Automation, 2007, Rome, Italy
Abstract: We develop decentralized controllers for a team of disk-shaped robots to converge to and circulate along the boundary of a desired two-dimensional geometric pattern specified by a smooth function with collision avoidance. The proposed feedback controllers rely solely on each robot's range and bearing sensors which allow them to obtain information about positions of neighbors within a given range. This is releveant for applications such as perimeter surveillance or containing hazardous regions where limited bandwidth must be preserved for situational awareness. The computational complexity of the decentralized controller for each agent is linear in the number of neighboring agents, making it scalable to robot swarms. We establish stability and convergence properties of the controllers and verify the feasibility of the method through computer simulations.
ISSN: 10504729
DOI: 10.1109/ROBOT.2007.363664
Rights: ©2007 IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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