Distributed Geometric Optimization and Control of Rigid Differential-Drive Form
Overview
This paper proposes a two-layer estimation control scheme for differential-drive robot formations that regulate shape, position, and orientation using only relative position measurements and one absolute anchor. The method combines graph-proximal estimators for centroid reconstruction with distance gradient regulation and finite rotation to eliminate orientation drift. Validation is performed in ROS 2 Gazebo and with five physical robots.
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- arXiv Robotics — research abstractsSignalDistributed Geometric Optimization and Control of Rigid Differential-Drive Formations from Relative-Position Measurements
This paper proposes a two-layer estimation control scheme for differential-drive robot formations that regulate shape, position, and orientation using only relative position measurements and one absolute anchor. The method combines graph-proximal estimators for centroid reconstruction with distance gradient regulation and finite rotation to eliminate orientation drift. Validation is performed in ROS 2 Gazebo and with five physical robots.
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