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CDC
2008
IEEE

Stabilization of infinitesimally rigid formations of multi-robot networks

13 years 11 months ago
Stabilization of infinitesimally rigid formations of multi-robot networks
This paper proposes a local gradient control law to stabilize a group of robots to a target formation. The control is derived from a potential function based on an undirected infinitesimally rigid graph that specifies the target formation. It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold describing the target formation.
Laura Krick, Mireille E. Broucke, Bruce A. Francis
Added 07 Dec 2010
Updated 07 Dec 2010
Type Conference
Year 2008
Where CDC
Authors Laura Krick, Mireille E. Broucke, Bruce A. Francis
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