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- W2743002562 abstract "This article proposes a distributed algorithm for the compact deployment of robots, using both distance- and angular-based arguments in the controllers’ design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph’s connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks." @default.
- W2743002562 created "2017-08-17" @default.
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- W2743002562 date "2017-02-06" @default.
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- W2743002562 title "Distributed control of compact formations for multi-robot swarms" @default.
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- W2743002562 doi "https://doi.org/10.1093/imamci/dnw073" @default.
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