Decentralized algorithms for 3D symmetric formations in robotic networks - a contraction theory approach

Sumeet Singh; Edward Schmerling; Marco Pavone

ICRA 2015poster3 citations

Decentralized algorithms for 3D symmetric formations in robotic networks - a contraction theory approach

Sumeet Singh, Edward Schmerling, Marco Pavone

Abstract

This paper presents distributed algorithms for formation control of multiple robots in three dimensions. In particular, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction theory to design distributed control algorithms ensuring global convergence to symmetric formations. As a base case we consider regular polygons as desired formations and then provide extensions to Johnson solid formations. Finally, we analyze the robustness of the control algorithms under bounded additive disturbances and provide performance bounds with respect to the formation error.

BibTeX

@inproceedings{icra2015_decentralizedalg,
  title = {Decentralized algorithms for 3D symmetric formations in robotic networks - a contraction theory approach},
  author = {Sumeet Singh and Edward Schmerling and Marco Pavone},
  booktitle = {ICRA 2015},
  year = {2015}
}