A survey of multi-agent formation control

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms.Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises.Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

/pdf/distributed-control-of-robotic-networks-a-mathematical-1q6nfcvi2l.pdf

Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms

A current survey of the emerging field of networked control systems is provided. The aim is to introduce the fundamental issues involved in designing successful networked control systems, to provide a snapshot assessment of the current state of research in the field, to suggest useful future research directions, and to provide a broad perspective on recent fundamental results. Reflecting the goals of the Special Issue itself, this paper surveys relevant work from the areas of systems and control, signal processing, detection and estimation, data fusion, and distributed systems. We discuss appropriate network architectures, topics such as coding for robustly stable control in the presence of time-varying channel capacity, channels with fixed versus adaptively variable data width, issues in data rate problems in nonlinear feedback problems, and problems in routing for stability and performance. In surveying current research on networked control systems, we find that recent theoretical advances and target applications are intimately intertwined. The common goal of papers in the Special Issue which follows is to describe key aspects of this relationship. We also aim to provide a bridge between networked control systems and closely related contemporary work dealing with sensor networks and wireless communication protocols

Control and Communication Challenges in Networked Real-Time Systems

This article sets out the rudiments of a theory for analyzing and creating architectures appropriate to the control of formations of autonomous vehicles. The theory rests on ideas of rigid graph theory, some but not all of which are old. The theory, however, has some gaps in it, and their elimination would help in applications. Some of the gaps in the relevant graph theory are as follows. First, there is as yet no analogue for three-dimensional graphs of Laman's theorem, which provides a combinatorial criterion for rigidity in two-dimensional graphs. Second, for three-dimensional graphs there is no analogue of the two-dimensional Henneberg construction for growing or deconstructing minimally rigid graphs although there are conjectures. Third, global rigidity can easily be characterized for two-dimensional graphs, but not for three-dimensional graphs.

Rigid graph control architectures for autonomous formations

A current survey of the emerging field of networked control systems is provided. The aim is to introduce the fundamental issues involved in designing successful networked control systems, to provide a snapshot assessment of the current state of research in the field, to suggest useful future research directions, and to provide a broad perspective on recent fundamental results. Reflecting the goals of the Special Issue itself, this paper surveys relevant work from the areas of systems and control, signal processing, detection and estimation, data fusion, and distributed systems. We discuss appropriate network architectures, topics such as coding for robustly stable control in the presence of time-varying channel capacity, channels with fixed versus adaptively variable data width, issues in data rate problems in nonlinear feedback problems, and problems in routing for stability and perfor- mance. In surveying current research on networked control systems, we find that recent theoretical advances and target applications are intimately intertwined. The common goal of papers in the Special Issue which follows is to describe key aspects of this relationship. We also aim to provide a bridge between networked control systems and closely related contemporary work dealing with sensor networks and wireless communication protocols.

/pdf/control-and-communication-challenges-in-networked-real-time-4lrm4yn3ja.pdf

Control and Communication Challenges in Networked Real-Time Systems Systems now have the ability to do data processing and control at remote locations and can be coordinated through digital, even wireless, networks to meet overall objectives.

Efforts to apply computer vision and various optical and acoustic proximity sensors for distributed/ coordinated motion control of a small group of autonomous vehicles has led us to consider a number of natural feedback control laws which utilize realtime measurements of relative distances between the vehicles. Unfortunately, none of the feedback laws satisfies Brockett's necessary conditions for asymptotic stabilization. They do appear to provide a basis for practical solutions to a number of interesting vehicle control problems, however. Part of the rationale for proposing feedback laws which are not asymptotically stabilizing is that in a number of cases of practical interest, one may show that the set of initial conditions which are not driven to the prescribed rest point is either small (in some sense) or uninteresting (in the problem context) or both. In some cases, one can also show that by choosing feedback gains in terms of the problem's initial conditions-using say a table look-up-it is possible to steer from any given initial state into an arbitrarily small neighborhood of the desired goal state. The aim of the research here is to develop a large catalogue of simple controlled motions which in appropriate sequential combinations permit autonomous nonholonomic vehicles to assemble themselves and execute coordinated motions in highly structured formations.

http://www.eeci-institute.eu/GSC2012/Photos-EECI/EECI-GSC-2012-M15/handout2/acyclicformations/baillieul&surilong.pdf

Information patterns and Hedging Brockett's theorem in controlling vehicle formations

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Information patterns and Hedging Brockett's theorem in controlling vehicle formations