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Coordinated Collective Motion of Groups of Autonomous Mobile Robots with Directed Interconnected Topology

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Abstract

Coordinated collective motion of groups of autonomous mobile robots is studied. A qualitative analysis for the collective dynamics of multiple autonomous robots with directed interconnected topology using nearest neighbor rules is given. A necessary and sufficient graphical condition is proposed to guarantee that the headings of all robots converge to the same heading. The graph having a globally reachable node plays a crucial role in convergence analysis. Furthermore, we show that the globally reachable node having no neighbors serves as a group leader as a special case

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Authors and Affiliations

  1. Institute of Nonlinear and Complex Systems, China Three Gorges University, Yichang, 443002, People’s Republic of China

    Hui Yu

  2. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, People’s Republic of China

    Yongji Wang

Authors
  1. Hui Yu
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  2. Yongji Wang
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Corresponding author

Correspondence to Hui Yu.

Additional information

Supported in part by National Natural Science Foundation of China under the grant 60604001 and 60674081, Natural Science Research Project of Hubei Provincial Department of Education under the grant D20081306 and Scientific Innovation Team Project of Hubei Provincial College under the grant T200809.

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Yu, H., Wang, Y. Coordinated Collective Motion of Groups of Autonomous Mobile Robots with Directed Interconnected Topology. J Intell Robot Syst 53, 87–98 (2008). https://doi.org/10.1007/s10846-008-9230-9

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  • DOI: https://doi.org/10.1007/s10846-008-9230-9

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