Journal
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Volume 40, Issue 10, Pages 1019-1027Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207720902974603
Keywords
moving formation; decentralised feedback; formation control; communication graph; multi-robot systems
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Funding
- NSFC [60774089]
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In this article, a decentralised information feedback mechanism is introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. It is assumed that the robots can exchange only position information according to a pre-specified communication graph. Each node represents a robot. Two robots are neighbours of each other if there is an edge between the two nodes. A feedback controller is performed for each robot by only using its own velocity information and the position information from its neighbours. It is proven that if the graph is connected, then the convergence to the moving formation of the closed-loop system is guaranteed. Several numerical simulations are presented to illustrate the results.
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