Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |

C36

D. Zelazo, A. Franchi, F. Allgöwer, H. H. Bülthoff, P. Robuffo Giordano. Rigidity Maintenance Control for Multi-Robot Systems. In Robotics: Science and Systems Conference, RSS 2012, Sydney, Australia, July 2012.

Download [help]

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2015, Projet Lagadic/Rainbow

Abstract

Rigidity of formations in multi-robot systems is important for formation control, localization, and sensor fusion. This work proposes a rigidity maintenance gradient controller for a multi-agent robot team. To develop such a controller, we first provide an alternative characterization of the rigidity matrix and use that to introduce the novel concept of the rigidity eigenvalue. We provide a necessary and sufficient condition relating the positivity of the rigidity eigenvalue to the rigidity of the formation. The rigidity maintenance controller is based on the gradient of the rigidity eigenvalue with respect to each robot position. This gradient has a naturally distributed structure, and is thus amenable to a distributed implementation. Additional requirements such as obstacle and inter-agent collision avoidance, as well as typical constraints such as limited sensing/communication ranges and line-of-sight occlusions, are also explicitly considered. Finally, we present a simulation with a group of seven quadrotor UAVs to demonstrate and validate the theoretical results

BibTex Reference

@InProceedings{C36,
   Author = {Zelazo, D. and Franchi, A. and Allgöwer, F. and H. Bülthoff, H. and Robuffo Giordano, P.},
   Title = {{Rigidity Maintenance Control for Multi-Robot Systems}},
   BookTitle = {Robotics: Science and Systems Conference, RSS 2012},
   Address = {Sydney, Australia},
   Month = {July},
   Year = {2012}
}

EndNote Reference [help]

Get EndNote Reference (.ref)