Formation Control Over Delayed Communication Networks. Secchi, C. & Fantuzzi, C. In IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, May~19-23, 2008.
abstract   bibtex   
In this paper we address the problem of formation control of a group of robots that exchange information over a delayed communication network. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled system as a set of elements exchanging energy along a power preserving interconnection structure. We exploit the scattering framework to stabilize the robots in the desired formation independently of any delay in the communication of the information.
@InProceedings{Secchi-et-al:ICRA:Pasadena:2008,
  author = 	 {Cristian Secchi and Cesare Fantuzzi},
  title = 	 {Formation Control Over Delayed Communication Networks},
  booktitle = {IEEE International Conference on Robotics and Automation, ICRA 2008},
  year = 	 2008,
  address = 	 {Pasadena, CA},
  month = 	 may # "~19-23",
  isbn = {9781424416462},
  ID = 200805,
  file =         {papers/2008-05-ICRA-Pasadena-Networks.pdf},
  href =         {\hyperbibref{2008-05-ICRA-Pasadena-Networks.pdf}},
  abstract = {In this paper we address the problem of formation
                  control of a group of robots that exchange
                  information over a delayed communication network. We
                  consider the Virtual Body Artificial Potential
                  approach for stabilizing a group of robots at a
                  desired formation. We show that it is possible to
                  model the controlled system as a set of elements
                  exchanging energy along a power preserving
                  interconnection structure. We exploit the scattering
                  framework to stabilize the robots in the desired
                  formation independently of any delay in the
                  communication of the information.}
}

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