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Controlling Swarms of Mobile Robots for Switching between Formations Using Synchronization Concept

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2 Author(s)
Dong Sun ; Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon ; Can Wang

This paper presents a synchronous control approach to swarms of mobile robots in switching between formations. According to the desired formation, a synchronization control goal is derived, based on which the position synchronization error is defined as differential position errors between very pair of two neighboring robots. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Simulations are performed on a group of twenty fully-actuated mobile robots in a switching task between different ellipse curves. The simulation results demonstrate the effectiveness of the proposed synchronous control design for the formation control.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007