Fault-Tolerant Multiagent Robotic Formation Control Exploiting System Symmetries

摘要：

This paper extends some prior work by the authors to address general robustness of solutions in multiagent coordination control problems. In particular, it focuses on fault-tolerant formation control. In our prior work, symmetries in the system were exploited to simplify the nonlinear Lyapunov stability analysis for symmetric systems. The type of symmetry considered is a discrete symmetry where the system is composed of many repeated instances of interacting identical agents. The results are based on Lyapunov methods, and hence are of general applicability and specifically these results are applicable to both distributed as well as non-distributed coordination methods. This paper considers the same types of systems and extends the stability results to the cases of robustness of formation stability under failure of individual agents.

作者: Bill Goodwine Panos Antsaklis

作者单位: Department of Aerospace & Mechanical Engineering,University of Notre Dame,Notre Dame,Indiana 46556 U Department of Electrical Engineering at the University of Notre Dame,Notre Dame,Indiana 46556 USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2872-2877

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）