AbsIruct-Formations that contain a small number of robots are modeled as controlled Lagrangian systems on Jacobi shape space. This allows a blocked decoupled control for position, orientation and shape of the formation. Feedback control laws are derived using control Lyapunov functions. The controlled dynamics converges to the invariant set where desired shape is achieved. Controllers are implemented in a layered fashion via the extended motion description langnage(MDLe) system. Group MDLe plans are constructed to allow structured controller design for formations.
Formations for small teams of robots can also be achieved by modeling the team as controlled Lagrangian systems on Jacobi shape space REF .
Control of small formations using shape coordinates
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
Mathematics Computer Science