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Control design for flexible hierarchical formation of multiple robots

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2 Author(s)
Yutao Tang ; Key Laboratory of System and Control, Chinese Academy of Sciences, Beijing, 100190, China ; Yiguang Hong

In this paper, we consider flexible formation and related control design of multi-robot systems. A hierarchical structure is provided for flexible formation of unicycle robots. With the virtual hierarchy defined in light of interconnection graphs, the formation and related parameters can be changed in different levels of the whole structure. The formation control design is given from a leader-following viewpoint. Stability analysis is also provided after that.

Published in:

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Date of Conference:

6-8 July 2012