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Title: Multi-robot formation control using distributed null space behavioral approach
Authors: Ahmad, Shakeel
Feng, Zhi
Hu, Guoqiang
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Satellite telecommunication
Issue Date: 2014
Source: Ahmad, S., Feng, Z., & Hu, G. (2014). Multi-robot formation control using distributed null space behavioral approach. 2014 IEEE International Conference on Robotics and Automation (ICRA), 3607-3612.
Abstract: This paper presents a distributed formation control method for a group of robots. The global objective of achieving a desired formation is obtained by dividing it into a set of local objectives which are achieved in a distributed manner. A basic repetitive pattern in the desired formation is identified and a corresponding unique differentiable task function is defined based on the position coordinates of the robots forming the pattern. Neighbor selection rules are designed for the robots in such a way that each robot is part of one or more such patterns. A singularity-robust task-priority inverse kinematics method is used to design velocity controllers to achieve these patterns. Since a robot can receive multiple control actions being part of multiple task functions or patterns, a distributed null space behavioral (NSB) approach is designed to combine such multiple control actions in a prioritized way. A comprehensive stability analysis of the proposed approach based on Lyapunov methods is presented. Simulation results are provided to verify the effectiveness of the proposed approach.
DOI: 10.1109/ICRA.2014.6907380
Rights: © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Conference Papers

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