Decentralized discrete-time formation control for multirobot systems
type: Item
instance of: scholarly article
title: Decentralized discrete-time formation control for multirobot systems
zbMATH Open document ID: 1264.93157
DOI: 10.1155/2013/746713
author: E. G. Hernandez-Martinez
author: José-Job Flores-Godoy
author: Guillermo Fernández-Anaya
published in: Discrete Dynamics in Nature and Society
publication date: 2013-06-13T00:00:00Z
review text: Summary: Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6175117
Wikidata QID: Q58921799
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2013/746713
OpenAlex ID: W2004723128
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description: scientific article; zbMATH DE number 6175117