Stabilization of Multiple Robots on Stable Orbits via Local Sensing Mong-ying A. Hsieh, Savvas Loizou and Vijay Kumar GRASP Laboratory, University of.

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Presentation transcript:

Stabilization of Multiple Robots on Stable Orbits via Local Sensing Mong-ying A. Hsieh, Savvas Loizou and Vijay Kumar GRASP Laboratory, University of Pennsylvania Decentralized controllers for a team of robots to converge to and travel along the boundary of star shaped sets Collision avoidance is achieved by assigning priority to the agents based on their relative positions with one another and with respect to the desired boundary Computational complexity of the decentralized controller is linear in the number of neighboring agents Stability and convergence to a class of boundaries with guarantees on collision avoidance.