Scalable formation control of multi-robot chain networks using a PDE abstraction

Karthik Elamvazhuthi, Spring Berman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This work investigates the application of boundary control of the wave equation to achieve leader-induced formation control of a multi-robot network with a chain topology. In contrast to previous related work on controlling formations of single integrator agents, we consider a model for double integrator agents. For trajectory planning, we use the flatness based method for assigning trajectories to leader agents so that the agents’ trajectories and control inputs are computed in a decentralized way. We show how the approximation greatly simplifies the planning problem and the resulting synthesized controls are bounded and independent of the number of agents in the network. We validate our formation control approach with simulations of 100 and 1000 agents that converge to configurations on three different type of target curves.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Pages357-369
Number of pages13
Volume112
ISBN (Print)9784431558774
DOIs
StatePublished - 2016
Event12th International Symposium on Distributed Autonomous Robotic Systems, DARS 2014 - Daejeon, Korea, Republic of
Duration: Nov 2 2014Nov 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume112
ISSN (Print)16107438
ISSN (Electronic)1610742X

Other

Other12th International Symposium on Distributed Autonomous Robotic Systems, DARS 2014
CountryKorea, Republic of
CityDaejeon
Period11/2/1411/5/14

Keywords

  • Boundary control
  • Chain networks
  • Flatness-based trajectory planning
  • Formation control
  • Scalable control
  • Wave equation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Elamvazhuthi, K., & Berman, S. (2016). Scalable formation control of multi-robot chain networks using a PDE abstraction. In Springer Tracts in Advanced Robotics (Vol. 112, pp. 357-369). (Springer Tracts in Advanced Robotics; Vol. 112). Springer Verlag. https://doi.org/10.1007/978-4-431-55879-8_25