ausblenden:
Schlagwörter:
-
Zusammenfassung:
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.
