Distributed control of compact formations for multi-robot swarms

Abstract : This paper proposes a distributed algorithm for the compact deployment of robots, using both distance-and angular-based arguments in the controllers' design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph's connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.
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IMA Journal of Mathematical Control and Information, Oxford University Press (OUP), 2018, 35 (3), pp.805-835. 〈10.1093/imamci/dnw073〉
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Gabriel Rodrigues de Campos, Dimos V. Dimarogonas, Alexandre Seuret, Karl Johansson. Distributed control of compact formations for multi-robot swarms. IMA Journal of Mathematical Control and Information, Oxford University Press (OUP), 2018, 35 (3), pp.805-835. 〈10.1093/imamci/dnw073〉. 〈hal-01416287〉

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