LMST-based safety-preserved consensus control of multi-robot systems with kinodynamic constraints Conference Paper uri icon


  • We report a local minimum spanning tree (LMST)-based consensus control of multi-robot systems. Instead of using a potential function-based approach, we propose a safety region concept for distributed collision-free control system design. The safety region design also takes a consideration of the kinematics and dynamics constraints, namely, kinodynamic constraints of each robot. The network topology control among multiple robots is constructed by an LMST algorithm. The LMST-based topology control not only preserves the connectivity of multi-robot systems but also improves the energy consumption and network communication quality. Simulation results are presented to validate the proposed control system design. Copyright 2008 by ASME.

published proceedings

  • 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

author list (cited authors)

  • Yi, J., Wang, H., Liu, J., & Song, D.

complete list of authors

  • Yi, J||Wang, H||Liu, J||Song, D

publication date

  • October 2009