Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic lea...

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Published in:IEEE/CAA journal of automatica sinica Vol. 1; no. 1; pp. 54 - 60
Main Authors: Zhang, Hejin, Zhao, Zhiyun, Meng, Ziyang, Lin, Zongli
Format: Journal Article
Language:English
Published: Chinese Association of Automation (CAA) 01.01.2014
Subjects:
Algorithms
containment
Decentralized control
Dispersion
Dispersions
distributed control
Distributed control algorithms
Distributed parameter control systems
Double-integrator dynamics
experimental platform
Experimental verification
group dispersion
Group dispersions
Heuristic algorithms
Industrial robots
Mobile robots
Multi agent systems
Multi-robot systems
Multipurpose robots
Robot kinematics
Robot learning
Robots
Trajectory
ISSN:2329-9266, 2329-9274
Online Access:Get full text
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Abstract This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.
AbstractList This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.
Author Zhao, Zhiyun
Meng, Ziyang
Lin, Zongli
Zhang, Hejin
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  givenname: Zongli
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  organization: Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville VA 22904-4743, USA
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Snippet This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a...
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SubjectTerms Algorithms
containment
Decentralized control
Dispersion
Dispersions
distributed control
Distributed control algorithms
Distributed parameter control systems
Double-integrator dynamics
experimental platform
Experimental verification
group dispersion
Group dispersions
Heuristic algorithms
Industrial robots
Mobile robots
Multi agent systems
Multi-robot systems
Multipurpose robots
Robot kinematics
Robot learning
Robots
Trajectory
Title Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders
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