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Jan.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(1): 54-60
Hejin Zhang, Zhiyun Zhao, Ziyang Meng and Zongli Lin, "Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 54-60, 2014.
Citation: Hejin Zhang, Zhiyun Zhao, Ziyang Meng and Zongli Lin, "Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 54-60, 2014.
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Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders

  • 1. Department of Automation, and Key Laboratory for System Control and Information Processing of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China;

  • 2. Access Linnaeus Centre, School of Electrical Engineering, Royal Institute of Technology, Stockholm, Sweden;

  • 3. Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville VA 22904-4743, USA

Funds:

This work was supported by National Natural Science Foundation of China (61221003, 61273105).

    Abstract
  • This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

     

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