Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/43750
Title: Pose consensus in networks of heterogeneous robots with variable time delays
Author: Aldana, C.I.
Romero, E.
Nuno, E.
Basanez, L.
Issue Date: 2014
Abstract: This paper proposes a novel pose (position and orientation) consensus controller for networks of heterogeneous robots modeled in the operational space. The proposed controller is a distributed proportional plus damping scheme that, with a slight modification, solves both the leader-follower and leaderless consensus problems. A singularity-free representation, unit quaternion, is used to describe the robots orientation, and the network is represented by an undirected and connected interconnection graph. Furthermore, it is shown that the controller is robust to interconnection variable time delays. Experiments with a network of two 6-degrees-of-freedom robots are presented to illustrate the performance of the proposed scheme. 2014 John Wiley & Sons, Ltd.
URI: http://www.scopus.com/inward/record.url?eid=2-s2.0-84903246641&partnerID=40&md5=fc88564b9a5e3a18480f830288c5d842
http://hdl.handle.net/20.500.12104/43750
Appears in Collections:Producción científica UdeG

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