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.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Laura Krick, Mireille E. Broucke, Bruce A. Francis
• Keywords: CDC 2008, Control Systems, Local Asymptotical Stability, Local Gradient Control, Target Formation