小型飞行器分布式可重构编队发生器

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI:10.1109/IROS.2018.8593511

Lara Brifion-Arranz, Matthieu Muschinowski, J. Dumon, N. Marchand

{"title":"小型飞行器分布式可重构编队发生器","authors":"Lara Brifion-Arranz, Matthieu Muschinowski, J. Dumon, N. Marchand","doi":"10.1109/IROS.2018.8593511","DOIUrl":null,"url":null,"abstract":"This video presents a distributed trajectory generator for formation control of multi-robot systems. The desired formation is defined by its geometric parameters but the position of each robot in the formation is not predefined a priori. The contribution is the design of a distributed algorithm to compute the robots' positions with respect to a given target while maintaining a particular formation which can be reconfigured on-line. A tracking controller ensures the convergence of the robots to their desired positions.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"44 1","pages":"1-1"},"PeriodicalIF":0.0000,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Distributed Reconfigurable Formation Generator for Mini Aerial Vehicles\",\"authors\":\"Lara Brifion-Arranz, Matthieu Muschinowski, J. Dumon, N. Marchand\",\"doi\":\"10.1109/IROS.2018.8593511\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This video presents a distributed trajectory generator for formation control of multi-robot systems. The desired formation is defined by its geometric parameters but the position of each robot in the formation is not predefined a priori. The contribution is the design of a distributed algorithm to compute the robots' positions with respect to a given target while maintaining a particular formation which can be reconfigured on-line. A tracking controller ensures the convergence of the robots to their desired positions.\",\"PeriodicalId\":6640,\"journal\":{\"name\":\"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"volume\":\"44 1\",\"pages\":\"1-1\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2018.8593511\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2018.8593511","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

本视频介绍了一种用于多机器人系统编队控制的分布式轨迹生成器。期望的队形是由其几何参数定义的，但每个机器人在队形中的位置不是先验地预定义的。贡献在于设计了一种分布式算法来计算机器人相对于给定目标的位置，同时保持可以在线重新配置的特定队形。跟踪控制器确保机器人收敛到期望的位置。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Distributed Reconfigurable Formation Generator for Mini Aerial Vehicles

This video presents a distributed trajectory generator for formation control of multi-robot systems. The desired formation is defined by its geometric parameters but the position of each robot in the formation is not predefined a priori. The contribution is the design of a distributed algorithm to compute the robots' positions with respect to a given target while maintaining a particular formation which can be reconfigured on-line. A tracking controller ensures the convergence of the robots to their desired positions.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

自引率

0.00%

发文量