Distributed formation control with time and connectivity constraints

  1. María Guinaldo 1
  2. José Sánchez 1
  3. Sebastián Dormido 1
  4. Dimos V. Dimarogonas 2
  1. 1 UNED. Universidad Nacional de Educación a Distancia (España)
  2. 2 Royal Institute of Technology (KTH)
Libro:
XXXIX Jornadas de Automática: actas. Badajoz, 5-7 de septiembre de 2018
  1. Inés Tejado Balsera (coord.)
  2. Emiliano Pérez Hernández (coord.)
  3. Antonio José Calderón Godoy (coord.)
  4. Isaías González Pérez (coord.)
  5. Pilar Merchán García (coord.)
  6. Jesús Lozano Rogado (coord.)
  7. Santiago Salamanca Miño (coord.)
  8. Blas M. Vinagre Jara (coord.)

Editorial: Universidad de Extremadura

ISBN: 978-84-9749-756-5,  978-84-09-04460-3

Año de publicación: 2018

Páginas: 506-513

Congreso: Jornadas de Automática (39. 2018. Badajoz)

Tipo: Aportación congreso

DOI: 10.17979/SPUDC.9788497497565.0507 DIALNET GOOGLE SCHOLAR lock_openRUC editor

Resumen

In this paper, we propose a distributed control law for non-holonomic vehicles that guarantees to achieve the desired formation and location before a given deadline, while maintaining the connectivity of the group. The group is commanded by a a selected subset of the agents, which know the location of the desired objective, while the rest of the vehicles only have information about their relative desired positions respect their set of neighbors. The analytical results are illustrated with a simulation example.

Fuente de los datos: Dialnet