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Authors: Chrystian Edmundo Pool Yuca Huanca 1 ; Gian Paolo Incremona 1 ; Roderich Groß 2 and Patrizio Colaneri 1

Affiliations: 1 Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, 20133 Milan, Italy ; 2 Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield S1 3JD, U.K.

Keyword(s): Swarm Robotics, Mobile Robots, Switched Systems, Control Lyapunov Functions, Collision Avoidance.

Abstract: This paper proposes a novel aggregation strategy for a network of mobile wheeled robots with constrained dynamics. The strategy assumes a centralized control architecture, which collects all the robot positions and generates the control signals sent to the robots in the network. To do this a control Lyapunov function (CLF) based approach is designed relying on a switched formulation of the robot models. Such a formulation is in fact made possible by constraining the robot motion only to rotation and roto-translation in the plane. Moreover, a collision avoidance objective is taken into account in the design of the CLF. The approach is analyzed, and simulations as well as experiments with six robots show its effectiveness and practical applicability.

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Paper citation in several formats:
Yuca Huanca, C.; Incremona, G.; Groß, R. and Colaneri, P. (2022). Design of a Switched Control Lyapunov Function for Mobile Robots Aggregation. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 492-499. DOI: 10.5220/0011319200003271

@conference{icinco22,
author={Chrystian Edmundo Pool {Yuca Huanca}. and Gian Paolo Incremona. and Roderich Groß. and Patrizio Colaneri.},
title={Design of a Switched Control Lyapunov Function for Mobile Robots Aggregation},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={492-499},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011319200003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Design of a Switched Control Lyapunov Function for Mobile Robots Aggregation
SN - 978-989-758-585-2
IS - 2184-2809
AU - Yuca Huanca, C.
AU - Incremona, G.
AU - Groß, R.
AU - Colaneri, P.
PY - 2022
SP - 492
EP - 499
DO - 10.5220/0011319200003271
PB - SciTePress

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