In this research, firstly, a Minimum Spanning Tree-based local communication algorithm is employed to incur less data
propagation. Furthermore, approvingly it always preserves network connectivity and is favorable to practical implementation
as well. Secondly, desired rigid formation pattern is achieved by utilizing graph Laplacian and feedback control
theory. Then emphasis is placed upon the time-delay influence on the acquired formation in the situation where interconnection
time-delays occur in certain information flow channels while robots are communicating with spatially separated
neighboring robots. A robust stabilization scheme is discussed to largely improve or even recover the destroyed formation
pattern. Simulations verify the effectiveness of the proposed approaches to formation control.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.