Design of a Switched Control Lyapunov Function for Mobile Robots Aggregation

Chrystian Yuca Huanca, Gian Paolo Incremona, Roderich Groß, Patrizio Colaneri

2022

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.

Paper Citation

in Harvard Style

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 - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 492-499. DOI: 10.5220/0011319200003271

in Bibtex Style

@conference{icinco22,
author={Chrystian 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 - Volume 1: ICINCO,},
year={2022},
pages={492-499},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011319200003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Design of a Switched Control Lyapunov Function for Mobile Robots Aggregation
SN - 978-989-758-585-2
AU - Yuca Huanca C.
AU - Incremona G.
AU - Groß R.
AU - Colaneri P.
PY - 2022
SP - 492
EP - 499
DO - 10.5220/0011319200003271