Abstract
Control of multiple mobile robots raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs, particularly in applications involving the Internet of Things. This paper studies the distributed cooperative control problem of agent groups in the context of multi-agent flocking tasks with second order linear dynamics. A distributed flocking algorithm is proposed which is composed of two parts: motion strategy based on virtual units and stable flocking algorithm with bounded control input. The proposed algorithm handles the movement and reconfiguration of the flock under the environment of Internet of Things (IoT), while maintaining the desired shape for the initial dis-connected network. Experimental results demonstrate the effectiveness of the algorithm as a means to guarantee flocking in a team of robots.
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Acknowledgment
This research was supported by the National Natural Science Foundation of China (No. 61503291)
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Wang, Q., Li, A., Zhu, T. (2016). Distributed Cooperative Flocking Control for Multiple Mobile Robots Based on IoT. In: Li, W., et al. Internet and Distributed Computing Systems. IDCS 2016. Lecture Notes in Computer Science(), vol 9864. Springer, Cham. https://doi.org/10.1007/978-3-319-45940-0_25
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DOI: https://doi.org/10.1007/978-3-319-45940-0_25
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