Centralized and Decentralized Multi-Robot Control Methods Using the Cluster Space Control Framework

IGNACIO MAS; CHRISTOPHER KITTS

Montreal

Congreso; 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics; 2010

IEEE/ASME

The cluster space control technique promotes simplifiedspecification and monitoring of the motion of mobilemulti-robot systems. Previous work has established the conceptualfoundation of this approach and has experimentally verifiedand validated its use. In this publication, we summarize the definitionof the cluster space framework for planar robots and studysome of the most common formation control methods found inthe literature from the cluster space perspective. In doing this,we show that our proposed formation control framework canbe implemented in various ways; as a centralized or distributedsystem, and with different levels of scalability depending onthe particular cluster definition chosen. In particular, lead-follower,potential functions and virtual structures approachesare analyzed with the intent of addressing the generality andflexibility of the cluster space formation control approach.Experimental results illustrate the different implementationswhich are then compared and contrasted.