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.
| Original language | English |
|---|---|
| Title of host publication | Robotics: Science and Systems |
| Publisher | MIT Press Journals |
| Pages | 473-480 |
| Number of pages | 8 |
| Volume | 8 |
| ISBN (Print) | 9780262519687 |
| Publication status | Published - 2013 |
| Event | International Conference on Robotics Science and Systems, RSS 2012 - Sydney, Australia Duration: 2012 Jul 9 → 2012 Jul 13 |
Other
| Other | International Conference on Robotics Science and Systems, RSS 2012 |
|---|---|
| Country | Australia |
| City | Sydney |
| Period | 12/7/9 → 12/7/13 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Rigidity maintenance control for multi-robot systems. / Zelazo, Daniel; Franchi, Antonio; Allgöwer, Frank; Bulthoff, Heinrich; Giordano, Paolo Robuffo.
Robotics: Science and Systems. Vol. 8 MIT Press Journals, 2013. p. 473-480.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Rigidity maintenance control for multi-robot systems
AU - Zelazo, Daniel
AU - Franchi, Antonio
AU - Allgöwer, Frank
AU - Bulthoff, Heinrich
AU - Giordano, Paolo Robuffo
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84959294264&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84959294264&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84959294264
SN - 9780262519687
VL - 8
SP - 473
EP - 480
BT - Robotics: Science and Systems
PB - MIT Press Journals
ER -