In this work we consider a multi-robot system composed of three robotic units running the seminal swarm aggregation control law proposed in [1] for which a pairwise interaction is considered among each couple of units. In particular, we provide a characterization of all the possible equilibria for such a system while varying the parameters of interaction and investigate their stability properties. Simulations along with experimental results are given to corroborate the theoretical analysis.
Depouhon, C., Masciotta, M., Garone, E., Gasparri, A. (2014). Swarm aggregation with a multi-robot system composed of three robotic units: A closed form analysis. In 2014 22nd Mediterranean Conference on Control and Automation, MED 2014 (pp.1128-1133). Institute of Electrical and Electronics Engineers Inc. [10.1109/MED.2014.6961526].
Swarm aggregation with a multi-robot system composed of three robotic units: A closed form analysis
Gasparri, Andrea
2014-01-01
Abstract
In this work we consider a multi-robot system composed of three robotic units running the seminal swarm aggregation control law proposed in [1] for which a pairwise interaction is considered among each couple of units. In particular, we provide a characterization of all the possible equilibria for such a system while varying the parameters of interaction and investigate their stability properties. Simulations along with experimental results are given to corroborate the theoretical analysis.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
