INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
congresos y reuniones científicas
Título:
A Linear Algebra based Formation Control for Multi-Robot Systems
Autor/es:
ANDRÉS ROSALES; GUSTAVO SCAGLIA; VICENTE MUT; FERNANDO DI SCIASCIO
Lugar:
Merida Venezuela
Reunión:
Congreso; XIII Congreso Latinoamericano de Control Automático; 2008
Institución organizadora:
CLCA
Resumen:
A novel approach for the formation control of multi-robot systems by using Linear Algebra
Theory and Numerical Methods is presented in this paper. The design of the formation controller is based
on the formation states concept and the dynamic model of a unicycle-like nonholonomic mobile robot. The
proposed controller is decentralized and scalable. Previous studies very often ignore the dynamics of the
mobile robot and suffer from algorithmic singularity. Experimental results confirm the feasibility and the
effectiveness of the proposed controller and the advantages of using the dynamic model into the control
law. By using the proposed strategy, the mobile-robot formation is able to change its structure (shape and
size) and follow different trajectories in a precise way, minimizing the formation and tracking errors.
