Coordination of motion between multiple robots requires the robots to sense their relative poses. Common sensors depend on maintaining a line-of-sight between the sensor and the object being sensed. When the robots move relative to one another, they must coordinate their motions to ensure that these lines-of-sight are preserved. We propose a control method to preserve desired lines-of-sight in a multi-robot system where each robot has configuration space SE(3). A key feature of the control method is its ability to reject persistent bounded disturbances, enabling its use alongside additional control tasks. We demonstrate the effectiveness of the edge-preserving control in simulations involving additional input velocities that tend to break the edges.
|Number of pages||12|
|Journal||Control Theory and Technology|
|State||Published - Nov 1 2017|
Bibliographical notePublisher Copyright:
© 2017, South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany.
- Multi-robot coordination
- decentralized control
- graph theoretic control
ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering
- Control and Optimization