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Proceedings Paper

Robust formation control of multi-robot systems subject to interconnection time-delays using minimum dynamic communication
Author(s): Junjie Zhang; Suhada Jayasuriya
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Paper Abstract

In this research, firstly, a Minimum Spanning Tree-based local communication algorithm is employed to incur less data propagation. Furthermore, approvingly it always preserves network connectivity and is favorable to practical implementation as well. Secondly, desired rigid formation pattern is achieved by utilizing graph Laplacian and feedback control theory. Then emphasis is placed upon the time-delay influence on the acquired formation in the situation where interconnection time-delays occur in certain information flow channels while robots are communicating with spatially separated neighboring robots. A robust stabilization scheme is discussed to largely improve or even recover the destroyed formation pattern. Simulations verify the effectiveness of the proposed approaches to formation control.

Paper Details

Date Published: 30 April 2009
PDF: 8 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 73320I (30 April 2009); doi: 10.1117/12.819218
Show Author Affiliations
Junjie Zhang, Texas A&M Univ. (United States)
Suhada Jayasuriya, Texas A&M Univ. (United States)

Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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