Hybrid Control of Formations of Robots
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We describe a framework for controlling a group of nonholonomic mobile robots equipped with range sensors. The vehicles are required to follow a prescribed trajectory while maintaining a desired formation. By using the leader-following approach, we formulate the formation control problem as a hybrid (mode switching) control system. We then develop a decision module that allows the robots to automatically switch between continuous-state control laws to achieve a desired formation shape. The stability properties of the closed-loop hybrid system are studied using Lyapunov theory. We do not use explicit communication between robots; instead we integrate optimal estimation techniques with nonlinear controllers. Simulation and experimental results verify the validity of our approach.
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Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001) Volume 1, pages 157-162. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=20179&page=1 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.