NDLI: Control of a team of car-like robots using abstractions

Content Provider	IEEE Xplore Digital Library
Author	Belta, C. Pereira, G.A.S. Kumar, V.
Copyright Year	2003
Description	Author affiliation: GRASP Lab., Pennsylvania Univ., USA (Belta, C.; Pereira, G.A.S.; Kumar, V.)
Abstract	We present a method to coordinate a large number of under-actuated robots by designing control laws on a small dimensional manifold, independent on the number and ordering of the robots. The small dimensional description of the team has a product structure of a Lie group, which captures the dependence of the ensemble on the world frame, and a shape manifold, which is an intrinsic description of the team. We design decoupled controls for group and shape. The individual control laws which are mapped to the desired collective behavior can be realized by feedback depending only on the current state of the robot and the state on the small dimensional manifold, so that the robots have to broadcast their states and only have to listen to some coordinating agent with small bandwidth.
Sponsorship	Honeywell Lab. Xerox Nat. Instruments Math Works
Starting Page	1520
Ending Page	1525
File Size	439391
Page Count	6
File Format	PDF
ISBN	0780379241
ISSN	01912216
DOI	10.1109/CDC.2003.1272827
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-12-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Orbital robotics Robot control Shape control Motion control Convergence Laboratories State feedback Broadcasting Bandwidth
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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