ITM Web of Conferences
Volume 6, 20166th Seminar on Industrial Control Systems: Analysis, Modeling and Computation
|Number of page(s)||5|
|Published online||25 March 2016|
Automatic approach to stabilization and control for multi robot teams by multilayer network operator
1 Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, 119333 Moscow, Russia
2 Peoples’ Friendship University of Russia, 117198 Moscow, Russia
a Corresponding author: firstname.lastname@example.org
The paper describes a novel methodology for synthesis a high-level control of autonomous multi robot teams. The approach is based on multilayer network operator method that belongs to a symbolic regression class. Synthesis is accomplished in three steps: stabilizing robots about some given position in a state space, finding optimal trajectories of robots’ motion as sets of stabilizing points and then approximating all the points of optimal trajectories by some multi-dimensional function of state variables. The feasibility and effectiveness of the proposed approach is verified on simulations of the task of control synthesis for three mobile robots parking in the constrained space.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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