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Zhang G.-L.,Hi Technology Institution of Xian | Du B.-Y.,Hi Technology Institution of Xian | Sun Y.-J.,Hi Technology Institution of Xian | Xu J.,Hi Technology Institution of Xian | Tang W.-J.,Hi Technology Institution of Xian
Kongzhi yu Juece/Control and Decision | Year: 2016

Concerning the communication delay of multi-robot formation control, an impulsive control algorithm based on predictive control is proposed. The formation control is transformed into the stability problem by using consensusibility. The predictive model is established. And then the sufficient condition of stability in the multi-robot formation control is obtained by utilizing the stability theorem of Schur (the Lyapunov stability theorem in discrete time) and the impulsive protocol. In the simulation, the communication topology with a spinning tree is set up randomly, and different sample periods with time delay in multi-robot formation control is compared. Simulation results show the effectiveness of the proposed algorithm. © 2016, Editorial Office of Control and Decision. All right reserved.


Zhang G.-L.,Hi Technology Institution of Xian | Tang W.-J.,Hi Technology Institution of Xian | Zeng J.,Hi Technology Institution of Xian | Xu J.,Hi Technology Institution of Xian | Yao E.-L.,Hi Technology Institution of Xian
Zidonghua Xuebao/Acta Automatica Sinica | Year: 2014

The communication conditions can affect the design and realization of cooperative simultaneous localization and mapping (CSLAM) algorithms directly. According to the different focuses among the assumptions on the communication conditions of multi-robot systems, the state-of-the-art research advances of multi-robot CSLAM algorithms are presented in this paper. Firstly, the characters and drawbacks of the centralized CSLAM algorithm based on fully connected communication condition are introduced. Secondly, in the situation of unknown initial correspondence of the multi-robot system, the map merging issue of distributed CSLAM algorithm based on limited communication range and bandwidth is analyzed and defined in terms of map alignment, data association and map fusion. Furthermore, some of the latest research achievements on distributed CSLAM algorithm considering sparse-dynamic communication situation are also presented. Finally, the prospect of future research in the area of multi-robot CSLAM is summarized. Copyright © 2014 Acta Automatica Sinica. All rights reserved.

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