Edge-Weighted Consensus Based Formation Control Strategy With Collision Avoidance

In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The for- mation shape and the avoidance of collisions between robots are ob- tained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. More- over, results of simulations and experiments on real robots are provided for validation purposes

Formation Control over Delayed Communication Networks

In this paper we address the problem of formation control of a group ofrobots that exchange information over a communication network characterized by anon negligible delay.We consider the Virtual Body Artificial Potential approach forstabilizing a group of robots at a desired formation. We show that it is possible tomodel the controlled group of robots as a port-Hamiltonian system and we exploitthe scattering framework to achieve a passive behavior of the controlled system andto stabilize the robots in the desired formation independently of any communicationdelay

Formation Control Over Delayed Communication Networks

In this paper we address the problem of formation control of a group of robots that exchange information over a delayed communication network. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled system as a set of elements exchanging energy along a power preserving interconnection structure. We exploit the scattering framework to stabilize the robots in the desired formation independently of any delay in the communication of the information