Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Paper
Formation Control of a Networked Multi-Robot System Considering Limitation of Communication Range
Toru MurayamaAkinori NaganoZhi-Wei Luo
Author information
JOURNAL FREE ACCESS

2012 Volume 30 Issue 9 Pages 881-888

Details
Abstract

In this research, we analyze a formation control of a multi-robot system while considering the limitation of communication range for each robots. With limitation in communication range, it is important to control the communication network topology of a multi-robot system in order to keep the network's connectivity. We formulate the multi-robot system as a hybrid dynamical system, with the communication constraints by inequality. Then we study the algorithm to solve a mixed integer programming problem that is equivalent to the optimal formation control probrem of the system. Computer simulation of the formation control of three robots is perform, in which a optimal control and a receding horizon control is done to assure the validity of our approach.

Content from these authors
© 2012 The Robotics Society of Japan
Previous article Next article
feedback
Top