Stabilisation of infinitesimally rigid formations of multi-robot networks |
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Authors: | Laura Krick Bruce A Francis |
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Affiliation: | Edward S. Rogers Sr. Department of Electrical and Computer Engineering , University of Toronto , Toronto, Canada |
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Abstract: | This article considers the design of a formation control for multivehicle systems that uses only local information. The control is derived from a potential function based on an undirected infinitesimally rigid graph that specifies the target formation. A potential function is obtained from the graph, from which a gradient control is derived. Under this controller the target formation becomes a manifold of equilibria for the multivehicle system. It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold. A complete study of the stability of the regular polygon formation is presented and results for directed graphs are presented as well. Finally, the controller is validated experimentally. |
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Keywords: | cooperative control multiagent formations graph rigidity |
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