Stability on multi-robot formation with dynamic interaction topologies

摘要

The formation task achieved by multiple robots is a tough issue because of the limitations of the sensing abilities and communicating functions among them. Due to an individual robot can only handle local information, an adjacency graph is applied to describe the relationship among multiple robots. Since the relative positions among robots change from time to time, the topology graph describing information exchange is variant. A local control strategy is proposed for an individual robot based on NN control with robust terms. It has been proved that under an assumption of adjacency matrices associated with interaction graph being always connected, the system will converge based on the individual control strategy and multiple robots can construct an unique formation even if interaction topology is variant.