Reduction and Nonlinear Controllability of Symmetric Distributed Robotic Systems with Drift
نویسندگان
چکیده
This paper considers the “reduction” problem for distributed robotic systems. In particular, controllability of systems containing multiple instances of identical robotic systems or components where the overall system is invariant with respect to interchanging these identical robots or components is considered. The main result is a proposition which shows that for an equivalence class of symmetric systems of this type, controllability of the entire class of systems can be determined by analyzing the smallest member of the equiva-
منابع مشابه
Reduction and nonlinear controllability of symmetric distributed systems with robotic applications
AltstmctThe purpose of this paper is to develop methods to reduce the complexity of nonlinear distributed systems by using symmetry propers within the system. A method for contracting and expanding controllable nonlinear systems is developed which maintains the controllability of the original system. In fact, it is shown that an entire equivalence class of symmetric nonlinear distributed contro...
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تاریخ انتشار 2002