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  Rigidity Maintenance Control for Multi-Robot Systems

Zelazo, D., Franchi, A., Allgöwer, F., Bülthoff, H. H., & Robuffo Giordano, P. (2012). Rigidity Maintenance Control for Multi-Robot Systems. In N. Roy, P. Newman, & S. Srinivasa (Eds.), Robotics: Science and Systems VIII (pp. 473-480). Cambridge, MA, USA: MIT Press.

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 Creators:
Zelazo, D, Author
Franchi, A1, 2, Author              
Allgöwer, F, Author
Bülthoff, Heinrich H1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Rigidity of formations in multi-robot systems is important for formation control, localization, and sensor fusion. This work proposes a rigidity maintenance gradient controller for a multi-agent robot team. To develop such a controller, we first provide an alternative characterization of the rigidity matrix and use that to introduce the novel concept of the rigidity eigenvalue. We provide a necessary and sufficient condition relating the positivity of the rigidity eigenvalue to the rigidity of the formation. The rigidity maintenance controller is based on the gradient of the rigidity eigenvalue with respect to each robot position. This gradient has a naturally distributed structure, and is thus amenable to a distributed implementation. Additional requirements such as obstacle and inter-agent collision avoidance, as well as typical constraints such as limited sensing/communication ranges and line-of-sight occlusions, are also explicitly considered. Finally, we present a simulation with a group of seven quadrotor UAVs to demonstrate and validate the theoretical results.

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 Dates: 2012-07
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: BibTex Citekey: ZelazoFABR2012
DOI: 10.15607/RSS.2012.VIII.060
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Title: 2012 Robotics: Science and Systems Conference
Place of Event: Sydney, Australia
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Title: Robotics: Science and Systems VIII
Source Genre: Proceedings
 Creator(s):
Roy, N, Editor
Newman, P, Editor
Srinivasa, S, Editor
Affiliations:
-
Publ. Info: Cambridge, MA, USA : MIT Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 473 - 480 Identifier: ISBN: 978-0-262-51968-7