Consensus Algorithm for Swarm Robotics Cooperative Control

Bin Lei; Liang Cai Zeng

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

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 201-203Consensus Algorithm for Swarm Robotics Cooperative...

Consensus Algorithm for Swarm Robotics Cooperative Control

Abstract:

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.

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Advanced Manufacturing Systems, ICMSE 2011

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Periodical:

Advanced Materials Research (Volumes 201-203)

Pages:

1854-1857

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.201-203.1854

Citation:

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Online since:

February 2011

Authors:

Bin Lei, Liang Cai Zeng

Keywords:

Consensus, Cooperative Control, Flock, Swarm Robotic

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