Formation control of force-controlled mobile robots in a spanning-tree topology

Janset Dasdemir (1) , Antonio Loria (2)

1 Electrical Engineering Department
2 L2S - Laboratoire des signaux et systèmes

We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one "leader" robot and with one follower. We assume that the system is force- controlled (hence we use the dynamic model) as opposed to velocity-controlled (in the kinematic-model case). As in the classical tracking control problem for nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is leader to one robot only. For the case of a fixed spanning-tree topology we show that persistency of excitation on the velocity of the virtual leader is sufficient and necessary to achieve consensus tracking.

Domaines: Automatique

Janset Dasdemir, Antonio Loria. Formation control of force-controlled mobile robots in a spanning-tree topology. 12th European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. ⟨hal-00831434⟩