Planar formation control using tensegrity structures and experiments

Qingkai Yang; Yunlong Pan; Bo Zhou; Hao Fang

doi:10.1109/YAC.2019.8787707

Planar formation control using tensegrity structures and experiments

Qingkai Yang
, Yunlong Pan
, Bo Zhou
, Hao Fang

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a framework on how to achieve prescribed planar formations using the concept of tensegrity structures. Given a group of robots with desired formation shape, we first design the underlying interaction topology based on the Polygon Theorem, yielding a super stable structure along with the robots' configuration. Then some basic control laws are introduced for mobile robots to model the interplay relationship between the neighbouring nodes in a self-equilibrated tensegrity structure. To fully validate the effectiveness of the tensegrity-motivated formation control strategy, we carry out not only numerical simulations but also experiments on two types of mobile robot platforms, wheeled mobile robots and unmanned aerial vehicles (UAVs).

Original language	English
Title of host publication	Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	307-311
Number of pages	5
ISBN (Electronic)	9781728139364
DOIs	https://doi.org/10.1109/YAC.2019.8787707
Publication status	Published - Jun 2019
Event	34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019 - Jinzhou, China Duration: 6 Jun 2019 → 8 Jun 2019

Publication series

Name	Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019

Conference

Conference	34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019
Country/Territory	China
City	Jinzhou
Period	6/06/19 → 8/06/19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Energy efficiency
Keyword: Predictive
Neural networks
Petrochemicals
Prediction algorithms
Production models
Training

Access to Document

10.1109/YAC.2019.8787707

Cite this

Yang, Q., Pan, Y., Zhou, B., & Fang, H. (2019). Planar formation control using tensegrity structures and experiments. In Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019 (pp. 307-311). Article 8787707 (Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/YAC.2019.8787707

Yang, Qingkai ; Pan, Yunlong ; Zhou, Bo et al. / Planar formation control using tensegrity structures and experiments. Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 307-311 (Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019).

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title = "Planar formation control using tensegrity structures and experiments",

abstract = "This paper presents a framework on how to achieve prescribed planar formations using the concept of tensegrity structures. Given a group of robots with desired formation shape, we first design the underlying interaction topology based on the Polygon Theorem, yielding a super stable structure along with the robots' configuration. Then some basic control laws are introduced for mobile robots to model the interplay relationship between the neighbouring nodes in a self-equilibrated tensegrity structure. To fully validate the effectiveness of the tensegrity-motivated formation control strategy, we carry out not only numerical simulations but also experiments on two types of mobile robot platforms, wheeled mobile robots and unmanned aerial vehicles (UAVs).",

keywords = "Energy efficiency, Keyword: Predictive, Neural networks, Petrochemicals, Prediction algorithms, Production models, Training",

author = "Qingkai Yang and Yunlong Pan and Bo Zhou and Hao Fang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE; 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019 ; Conference date: 06-06-2019 Through 08-06-2019",

year = "2019",

month = jun,

doi = "10.1109/YAC.2019.8787707",

language = "English",

series = "Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "307--311",

booktitle = "Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019",

address = "United States",

}

Yang, Q, Pan, Y, Zhou, B & Fang, H 2019, Planar formation control using tensegrity structures and experiments. in Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019., 8787707, Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 307-311, 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019, Jinzhou, China, 6/06/19. https://doi.org/10.1109/YAC.2019.8787707

Planar formation control using tensegrity structures and experiments. / Yang, Qingkai; Pan, Yunlong; Zhou, Bo et al.
Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 307-311 8787707 (Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Planar formation control using tensegrity structures and experiments

AU - Yang, Qingkai

AU - Pan, Yunlong

AU - Zhou, Bo

AU - Fang, Hao

PY - 2019/6

Y1 - 2019/6

N2 - This paper presents a framework on how to achieve prescribed planar formations using the concept of tensegrity structures. Given a group of robots with desired formation shape, we first design the underlying interaction topology based on the Polygon Theorem, yielding a super stable structure along with the robots' configuration. Then some basic control laws are introduced for mobile robots to model the interplay relationship between the neighbouring nodes in a self-equilibrated tensegrity structure. To fully validate the effectiveness of the tensegrity-motivated formation control strategy, we carry out not only numerical simulations but also experiments on two types of mobile robot platforms, wheeled mobile robots and unmanned aerial vehicles (UAVs).

AB - This paper presents a framework on how to achieve prescribed planar formations using the concept of tensegrity structures. Given a group of robots with desired formation shape, we first design the underlying interaction topology based on the Polygon Theorem, yielding a super stable structure along with the robots' configuration. Then some basic control laws are introduced for mobile robots to model the interplay relationship between the neighbouring nodes in a self-equilibrated tensegrity structure. To fully validate the effectiveness of the tensegrity-motivated formation control strategy, we carry out not only numerical simulations but also experiments on two types of mobile robot platforms, wheeled mobile robots and unmanned aerial vehicles (UAVs).

KW - Energy efficiency

KW - Keyword: Predictive

KW - Neural networks

KW - Petrochemicals

KW - Prediction algorithms

KW - Production models

KW - Training

UR - https://www.scopus.com/pages/publications/85071387143

U2 - 10.1109/YAC.2019.8787707

DO - 10.1109/YAC.2019.8787707

M3 - Conference contribution

AN - SCOPUS:85071387143

T3 - Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019

SP - 307

EP - 311

BT - Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019

Y2 - 6 June 2019 through 8 June 2019

ER -

Yang Q, Pan Y, Zhou B, Fang H. Planar formation control using tensegrity structures and experiments. In Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 307-311. 8787707. (Proceedings - 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2019). doi: 10.1109/YAC.2019.8787707

Planar formation control using tensegrity structures and experiments

Abstract

Publication series

Conference

UN SDGs

Keywords

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