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タイトル: Generalized Coordination of Multi-robot Systems
著者: Sakurama, Kazunori  KAKEN_id
Sugie, Toshiharu
著者名の別形: 櫻間, 一徳
杉江, 敏治
キーワード: Control of Network Systems
Control of Multi-agent Systems
Systems Theory
Control Applications
Planning and Control: Multi-Robot Systems
Robot Control
発行日: 2-Dec-2021
出版者: Now Publishers
誌名: Foundations and Trends® in Systems and Control
巻: 9
号: 1
開始ページ: 1
終了ページ: 170
抄録: Multi-robot systems have huge potential for practical applications, which include sensor networks, area surveillance, environment mapping, and so forth. In many applications, cooperative coordination of the robots plays a central role. There are various types of coordination tasks such as consensus, formation, coverage, and pursuit. Most developments of control methods have been taken place for each task individually so far. The purpose of this monograph is to provide a systematic design method applicable to a wide range of coordination tasks for multi-robot systems. The features of the monograph are two-fold: (i) The coordination problem is described in a unified way instead of handling various problems individually, and (ii) a complete solution to this problem is provided in a compact way by using the tools of “group” and “graph” theories efficiently. As for item (i), it is shown that various coordination tasks can be formulated as a generalized coordination problem, where each robot should converge to some desired configuration set under the given information network topology among robots. In this problem, the solvability (i.e., whether robots can achieve the given coordination task or not) fully depends on the characteristics of both the desired configuration set and the network topology. Therefore, concerning item (ii), it is clarified when the generalized coordination problem can be solved in terms of the desired configuration set and the network topology. Furthermore, it is shown how to design a controller which achieves the given configuration task. In particular, the case where each robot can get only local information (e.g., relative position between two robots) is discussed.
著作権等: The final publication is available from now publishers via http://dx.doi.org/10.1561/2600000025.
The full-text file will be made open to the public on 02 June 2022 in accordance with publisher's 'Terms and Conditions for Self-Archiving'.
This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。
URI: http://hdl.handle.net/2433/269468
DOI(出版社版): 10.1561/2600000025
出現コレクション:学術雑誌掲載論文等

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