Formation Control Over Delayed Communication Networks

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.}
}

Downloads: 0

{"_id":"BFvKqWD94sEzh5MPT","bibbaseid":"secchi-fantuzzi-formationcontroloverdelayedcommunicationnetworks-2008","downloads":0,"creationDate":"2015-07-16T15:36:05.724Z","title":"Formation Control Over Delayed Communication Networks","author_short":["Secchi, C.","Fantuzzi, C."],"year":2008,"bibtype":"inproceedings","biburl":"http://155.185.232.211/shares/Pubblicazioni/fantuzzi.bib","bibdata":{"bibtype":"inproceedings","type":"inproceedings","author":[{"firstnames":["Cristian"],"propositions":[],"lastnames":["Secchi"],"suffixes":[]},{"firstnames":["Cesare"],"propositions":[],"lastnames":["Fantuzzi"],"suffixes":[]}],"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":"Secchi-et-al:ICRA:Pasadena:2008","file":"papers/2008-05-ICRA-Pasadena-Networks.pdf","href":"\\hyperbibref2008-05-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.","bibtex":"@InProceedings{Secchi-et-al:ICRA:Pasadena:2008,\n author = \t {Cristian Secchi and Cesare Fantuzzi},\n title = \t {Formation Control Over Delayed Communication Networks},\n booktitle = {IEEE International Conference on Robotics and Automation, ICRA 2008},\n year = \t 2008,\n address = \t {Pasadena, CA},\n month = \t may # \"~19-23\",\n isbn = {9781424416462},\n ID = 200805,\n file = {papers/2008-05-ICRA-Pasadena-Networks.pdf},\n href = {\\hyperbibref{2008-05-ICRA-Pasadena-Networks.pdf}},\n abstract = {In this paper we address the problem of formation\n control of a group of robots that exchange\n information over a delayed communication network. We\n consider the Virtual Body Artificial Potential\n approach for stabilizing a group of robots at a\n desired formation. We show that it is possible to\n model the controlled system as a set of elements\n exchanging energy along a power preserving\n interconnection structure. We exploit the scattering\n framework to stabilize the robots in the desired\n formation independently of any delay in the\n communication of the information.}\n}\n\n","author_short":["Secchi, C.","Fantuzzi, C."],"key":"Secchi-et-al:ICRA:Pasadena:2008","bibbaseid":"secchi-fantuzzi-formationcontroloverdelayedcommunicationnetworks-2008","role":"author","urls":{},"downloads":0},"search_terms":["formation","control","over","delayed","communication","networks","secchi","fantuzzi"],"keywords":[],"authorIDs":[],"dataSources":["e35R9vu9KjcZZk8vL"]}