Cooperative Control: Models, Applications and Algorithms

Volume 1 of the series Cooperative Systems pp 55-73

Control Graphs for Robot Networks

  • Aveek DasAffiliated withGRASP Laboratory, University of Pennsylvania
  • , Rafael FierroAffiliated withSchool of Electrical and Computer Engineering, Oklahoma State University
  • , Vijay KumarAffiliated withGRASP Laboratory, University of Pennsylvania

* Final gross prices may vary according to local VAT.

Get Access


In this paper we address the problem of stabilizing a group of mobile robots information. The group is required to follow a prescribed trajectory, while achieving and maintaining a desired formation. We describe algorithms for assigning control policies to different robots, based on sensor and actuator constraints. This assignment is described by a control graph. We relate the structure of the control graph to the stability of the dynamics of the formation. We examine both holonomic and nonholonomic mobile robot formations, and present analytical results and numerical simulations illustrating our approach.


Formation control cooperative control nonholonomic mobile robots stability control graphs