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Lateral and Longitudinal Stability for Decentralized Formation Control

  • David J. Naffin
  • Mehmet Akar
  • Gaurav S. Sukhatme

Abstract

This paper analyzes the stability properties of a decentralized hybrid control system for maintaining formations. Utilizing only local sensing, the system assembles strings or “platoons” of robots that has each robot maintaining a fixed bearing to its nearest neighbor. Using these platoons, the system is able to construct more complicated geometries. A piecewise linear controller based on bidirectional controller design is utilized to ensure the stability of the system. The system is demonstrated in simulation as well as on a physical set on non-holonomic mobile robots.

Keywords

Mobile Robot Fixed Bearing Physical Robot Nonholonomic Mobile Robot Follower Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer 2007

Authors and Affiliations

  • David J. Naffin
    • 1
  • Mehmet Akar
    • 2
  • Gaurav S. Sukhatme
    • 1
  1. 1.Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern CaliforniaLos Angeles
  2. 2.Communication Sciences Institute Department of Electrical EngineeringUniversity of Southern CaliforniaLos Angeles

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