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Distributed Geometric Optimization and Control of Rigid Differential-Drive Formations from Relative-Position Measurements — arXiv:2611.07163

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.07163
License (as archived): CC0-1.0
Archived: 2026-11-06T14:52:06.263Z
SHA-256 of the archived text: 6472fbc5507f32bf3dd296c308cdedb00730fb7523e5f588b5ac1a2c4f6bab1c
Stable URL of this page: https://metraipolis.com/documento/dc_ecabcdf50059

How to cite

Distributed Geometric Optimization and Control of Rigid Differential-Drive Formations from Relative-Position Measurements — arXiv:2611.07163 — arXiv (en), https://arxiv.org/abs/2611.07163 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_ecabcdf50059 (Metraipolis archive dc_ecabcdf50059, sha256 6472fbc5507f32bf3dd296c308cdedb00730fb7523e5f588b5ac1a2c4f6bab1c)

BibTeX

@misc{dcecabcdf50059,
  title = {Distributed Geometric Optimization and Control of Rigid Differential-Drive Formations from Relative-Position Measurements — arXiv:2611.07163},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.07163},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_ecabcdf50059; sha256 6472fbc5507f32bf3dd296c308cdedb00730fb7523e5f588b5ac1a2c4f6bab1c},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.07163. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Distance based formation control fixes the shape of a robot team but leaves its position and orientation unconstrained. We regulate all three for differential drive robots that have only one absolute position anchor, absolute headings, body frame relative position measurements, and communication with their neighbors. We derive a two layer estimation control scheme directly from optimization. The first half of the result is a set of graph-proximal estimators that reconstruct the centroid, the anchor vector, and the centered coordinates. Exact proximal updates reach consensus in finitely many steps, and a finite number of primal dual iterations leaves a bounded reconstruction error. The controller combines proximal centroid and orientation steps with distance gradient shape regulation, and a finite rotation removes the orientation drift caused by the shape step. A discrete Lyapunov analysis gives local exponential convergence once the estimators have converged. We validate the method in ROS 2 Gazebo and in experiments with five physical robots.

Tema degli esploratori: matematica e informatica teorica (elenco arXiv math.OC, nuovi lavori del giorno).
Categorie arXiv: Systems and Control (eess.SY) ; Robotics (cs.RO); Optimization and Control (math.OC).
Pagina del lavoro: https://arxiv.org/abs/2611.07163 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-06T14:23:27.654Z dalla pagina https://arxiv.org/list/math.OC/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).