20 September 2001 Decentralized control of cooperative robotic vehicles
Author Affiliations +
This paper describes how decentralized control theory can be used to control multiple cooperative robotic vehicles. Models of cooperation are discussed and related to the input/output reachability and structural observability and controllability of the entire system. Whereas decentralized control research in the past has concentrated on using decentralized controllers to partition complex physically interconnected systems, this work uses decentralized methods to connect otherwise independent non-touching robotic vehicles so that they behave in a stable, coordinated fashion. A vector Liapunov method is used to prove stability of a single example: the controlled motion of multiple vehicles along a line. The results of this stability analysis have been implemented on two applications: a robotic perimeter surveillance system and self-healing minefield.
© (2001) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
John T. Feddema, John T. Feddema, David Schoenwald, David Schoenwald, "Decentralized control of cooperative robotic vehicles", Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439973; https://doi.org/10.1117/12.439973


Toward a generic UGV autopilot
Proceedings of SPIE (April 30 2009)
Control of multiple robotic sentry vehicles
Proceedings of SPIE (July 21 1999)
Ground Vehicle Convoying
Proceedings of SPIE (December 31 1986)

Back to Top