Group-symmetric consensus for nonholonomic mobile multirobot systems in coopetition networks

Abstract

This paper proposes the concept of group-symmetric consensus for nonholonomic mobile multirobot systems (NMMRSs). Based on the thought of group-based coordination control, the framework of group-symmetric consensus for NMMRSs is developed in coopetition networks. Antagonistic interactions between robots therein can exist in the same group. Resorting to a novel auxiliary velocity vector embedded in the control algorithm, group-symmetric consensus can be realized with an integrated torque controller. By exploiting the Laplacian matrix associated with the coopetition networks in NMMRSs, the coordinate transformation technique is employed to execute stability analysis. Finally, the effectiveness of the group-symmetric consensus problem is verified by numerical simulations in two coopetition network types.