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Edge-weighted consensus-based formation control strategy with collision avoidance

Published online by Cambridge University Press:  28 February 2014

Riccardo Falconi ,
Lorenzo Sabattini ,
Cristian Secchi ,
Cesare Fantuzzi  and
Claudio Melchiorri
Riccardo Falconi
Affiliation:
Department of Electrical, Electronic and Information Engineering “Guglielmo Marconi” (DEI), University of Bologna, Italy
Lorenzo Sabattini*
Affiliation:
Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy
Cristian Secchi
Affiliation:
Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy
Cesare Fantuzzi
Affiliation:
Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy
Claudio Melchiorri
Affiliation:
Department of Electrical, Electronic and Information Engineering “Guglielmo Marconi” (DEI), University of Bologna, Italy
*
*Corresponding author. E-mail: lorenzo.sabattini@unimore.it
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Summary

In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.

Keywords

Formation controlWeighted graphsCollision avoidance

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 2 , February 2015 , pp. 332 - 347
Copyright
Copyright © Cambridge University Press 2014 

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