Title:
Persistent Formation Control for Multi-Robot Networks
Persistent Formation Control for Multi-Robot Networks
Author(s)
Smith, Brian Stephen
Wang, Jiuguang
Egerstedt, Magnus B.
Wang, Jiuguang
Egerstedt, Magnus B.
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Abstract
This paper presents a method for controlling
formations of mobile robots. In particular, the problem of
maintaining so-called "persistent formations" while moving
the formation from one location to another is defined and
investigated. A method for accomplishing such persistent formation
motions is presented, and the method is demonstrated
in simulation and with a prototype network of robots.
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Date Issued
2008-12
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Text
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