Consensus Algorithm for Swarm Robotics Cooperative Control

Abstract:

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A critical problem for swarm robotics cooperative control is to determine appropriate consensus algorithms so that a group of robots can reach consensus on the values of coordination data. In this paper, we defined the Information Interactive Graph ( IIG ) and the Information Interactive Matrix ( IIM ) to represent the information interaction relationship between each robot based on algebra graph theroy. Proofed the necessary and/or sufficient conditions for consensus and presented some consensus algorithms under static topology. Finally, simulation results showed that our algorithm can make a swarm of robots reach a consensus on the shared coordination data.

Info:

Periodical:

Advanced Materials Research (Volumes 201-203)

Edited by:

Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang

Pages:

1854-1857

DOI:

10.4028/www.scientific.net/AMR.201-203.1854

Citation:

B. Lei and L. C. Zeng, "Consensus Algorithm for Swarm Robotics Cooperative Control", Advanced Materials Research, Vols. 201-203, pp. 1854-1857, 2011

Online since:

February 2011

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Price:

$35.00

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