Decentralized Discrete-Time Formation Control for Multirobot Systems | Zendy

E. G. Hernández-Martínez | Zendy; J.J. Flores-Godoy | Zendy; Guillermo FernándezAnaya | Zendy

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Decentralized Discrete-Time Formation Control for Multirobot Systems

Author(s) -

E. G. Hernández-Martínez,

J.J. Flores-Godoy,

Guillermo FernándezAnaya

Publication year - 2013

Publication title -

discrete dynamics in nature and society

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.264

H-Index - 39

eISSN - 1607-887X

pISSN - 1026-0226

DOI - 10.1155/2013/746713

Subject(s) - computer science , robot , convergence (economics) , mobile robot , omnidirectional antenna , collective behavior , position (finance) , graph , group (periodic table) , control (management) , distributed computing , artificial intelligence , theoretical computer science , telecommunications , organic chemistry , finance , sociology , anthropology , antenna (radio) , economics , economic growth , chemistry

Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the globalconvergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations

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