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Hybrid control of reconfigurable robot formations

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2 Author(s)
Fierro, R. ; Marhes Lab., Oklahoma State Univ., Oklahoma City, OK, USA ; Das, A.K.

In this paper, we present a framework to dynamically reconfigure a team of autonomous robots. Reconfiguration means that a team of vehicles is capable of reaching and maintaining a desired formation while following a prescribed trajectory. We described the dynamic reconfiguration problem as a hybrid system; that is, a coordinator assigns controllers to the multi-robot system. Additionally, we formulate the assignment of controllers for the N-robot team as a graph optimization problem. Numerical simulations demonstrate the validity of our approach.

Published in:

American Control Conference, 2003. Proceedings of the 2003  (Volume:6 )

Date of Conference:

4-6 June 2003