期刊
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
卷 53, 期 1, 页码 87-98出版社
SPRINGER
DOI: 10.1007/s10846-008-9230-9
关键词
collective motion; autonomous mobile robot; consensus theory; directed graph; globally reachable node
资金
- National Natural Science Foundation of China [60604001, 60674081]
- Natural Science Research [D20081306]
- Scientific Innovation Team Project of Hubei Provincial College [T200809]
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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