Zhao, S. orcid.org/0000-0003-3098-8059 and Sun, Z. (2017) Defend the practicality of single-integrator models in multi-robot coordination control. In: 13th IEEE International Conference on Control and Automation. 13th IEEE International Conference on Control and Automation, 03/07/2017 - 06/07/2017, Ohrid, Macedonia. Institute of Electrical and Electronics Engineers
Abstract
Single-integrator models have been widely used to model robot kinematics in multi-robot coordination control problems. However, it is also widely believed that this model is too simple to lead to practically useful control laws. In this paper, we prove that if a gradient-descent distributed control law designed for single integrators has been proved to be convergent for a given coordination task, then the control law can be readily modified to adapt for various motion constraints including velocity saturation, obstacle avoidance, and nonholonomic models. This result is valid for a wide range of coordination tasks. It defends the practical usefulness of many existing coordination control laws designed based on single-integrator models and suggests a new methodology to design coordination control laws subject motion constraints.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Robot kinematics; Collision avoidance; Convergence; Lyapunov methods; Aerospace electronics; Adaptation models |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 19 Apr 2017 09:26 |
Last Modified: | 28 Oct 2017 03:07 |
Published Version: | https://doi.org/10.1109/ICCA.2017.8003139 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.1109/ICCA.2017.8003139 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:115120 |