Robot team control: A geometric approach
This paper describes the control of robot teams in the framework of Hilbert spaces. The paper focus are the intrinsic properties of robot control architectures, namely the conditions under which a generic mission can be successfully executed. The proposed paradigm develops in two levels: (i) single robot control supported on a monotonic and non-expansive projection map defined over some behavioral space such as the robot configuration space or the velocity space, and (ii) team control supported on a supervision scheme over a set of neighboring relations among the teammates, accounting for their relative motion. Each robot monitors its own neighboring relations for relevant changes and adapts its motion to the objectives of the team using a finite state automaton supervisor. Simulation results on teams of 2D holonomic and cart robots are presented.
geometric approaches robot control co-operative control