Co-ordinated collective motion patterns in a discrete-time setting with experiments

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Co-ordinated collective motion patterns in a discrete-time setting with experiments

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In this study, the authors co-ordinated collective motion patterns for a group of autonomous vehicles with Cartesian co-ordinate coupling in a discrete-time setting and present experimental results to validate the theoretical results. The collective motion patterns include rendezvous, circular patterns and logarithmic spiral patterns. The authors first study the collective motion patterns for a group of autonomous vehicles with single-integrator kinematics in a discrete-time setting when there exists time delay. The conditions on the network topology, the sampling period, the time delay and the Euler angle are presented such that different collective motion patterns can be achieved. The collective motion patterns for a group of autonomous vehicles with double-integrator dynamics in a discrete-time setting in the presence of relative damping are studied. The conditions on the network topology, the sampling period, the damping factor and the Euler angle are presented such that different collective patterns can be achieved. Finally, the theoretical results are experimentally validated on a multi-robot platform.

Inspec keywords: mobile robots; robot dynamics; delays; robot kinematics; path planning; damping; discrete time systems; multi-robot systems

Other keywords: damping factor; Cartesian coordinate coupling; multirobot platform; single integrator kinematics; autonomous vehicle; time delay; collective motion patterns coordination; network topology

Subjects: Discrete control systems; Robot and manipulator mechanics; Distributed parameter control systems; Mobile robots; Spatial variables control

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