Extended multi-agent consensus protocols for the generation of geometric patterns in the plane

Tsiotras, Panagiotis; Castro, Luis I. Reyes

doi:10.1109/acc.2011.5990927

Cited by 17 publications

(7 citation statements)

References 13 publications

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“…The equality in (27) represents a constraint on matrix J , which, according to (22), implies a constraint on the choice of the setpoint.…”

Section: A Admissible Setpoint Trajectoriesmentioning

confidence: 99%

“…Considering then the definition of the setpoint trajectories x s (t) given in (22), and considering the regulator equations in (26), we now introduce the following definition of admissible setpoint trajectories.…”

Section: A Admissible Setpoint Trajectoriesmentioning

confidence: 99%

“…In this section, we introduce a methodology to define a control law that makes the dependent robots track a periodic setpoint defined according to (22). For this purpose, let the tracking error e (t) ∈ R D be defined as…”

Section: Centralized Control Law For Setpoint Trackingmentioning

confidence: 99%

“…The standard consensus protocol is extended in [22], defining a local feedback control law that includes also gyroscopic effects, thus leading to the definition of complex periodic geometric orbits.…”

Section: Related Workmentioning

confidence: 99%

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Implementation of Coordinated Complex Dynamic Behaviors in Multirobot Systems

et al. 2015

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Decentralized control strategies for multirobot systems have been extensively studied over the past few years. Typically, these strategies aim at exploiting local interaction rules to regulate the overall state of the multirobot system toward a desired configuration, thus generating some desired coordinated behaviors, such as synchronization, swarming, deployment, or formation control. However, when considering the real-world application of multirobot systems, more complex cooperative dynamic behaviors are desirable. Along these lines, in this paper, we propose a methodology to control a multirobot system for cooperatively tracking arbitrarily defined periodic setpoint trajectories. This objective is fulfilled partitioning the multirobot system into independent robots (that can provide control inputs) and dependent robots (that are controlled through local interaction). The motion of the independent robots is then defined in such a way that, exploiting local interactions, the dependent robots are controlled to track the desired trajectories. The proposed control strategy is validated by means of simulations and experiments on real robots

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“…The equality in (27) represents a constraint on matrix J , which, according to (22), implies a constraint on the choice of the setpoint.…”

Section: A Admissible Setpoint Trajectoriesmentioning

confidence: 99%

Section: A Admissible Setpoint Trajectoriesmentioning

confidence: 99%

Section: Centralized Control Law For Setpoint Trackingmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 2 more Smart Citations

Implementation of Coordinated Complex Dynamic Behaviors in Multirobot Systems

et al. 2015

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“…For instance, [5], [6] present decentralized strategies for the coordination of groups of mobile robots moving along non-trivial paths. A decentralized strategy is presented in [7] that extends the standard consensus protocol to obtain periodic geometric patterns.…”

Section: Introductionmentioning

confidence: 99%

Implementation of arbitrary periodic dynamic behaviors in networked systems

Secchi

Cocetti

Fantuzzi

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Decentralized control of networked systems has been widely investigated in the literature, with the aim of regulating the overall state of the system to some desired configuration, thus obtaining coordinated emerging behaviors (e.g. synchronization, swarming, coverage, formation control) by means of local interaction. In this paper we introduce a methodology to solve a tracking problem, that is defining a decentralized control strategy for making a networked system follow an arbitrarily defined periodic setpoint function. The most suitable interconnection topology is defined together with the control law as the solution of a constrained optimization problem, in order to ensure asymptotic tracking. Simulations are provided for validating the proposed control strategy.

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Multi-robot systems implementing complex behaviors under time-varying topologies

Secchi

Fantuzzi

2017

European Journal of Control

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Extended multi-agent consensus protocols for the generation of geometric patterns in the plane

Cited by 17 publications

References 13 publications

Implementation of Coordinated Complex Dynamic Behaviors in Multirobot Systems

Implementation of Coordinated Complex Dynamic Behaviors in Multirobot Systems

Implementation of arbitrary periodic dynamic behaviors in networked systems

Multi-robot systems implementing complex behaviors under time-varying topologies

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