LMST-Based Safety-Preserved Consensus Control of Multi-Robot Systems With Kinodynamic Constraints

We report a local minimum spanning tree (LMST)-based consensus control of multi-robot systems. Instead of using a potential function-based approach, we propose a safety region concept for distributed collision-free control system design. The safety region design also takes a consideration of the kinematics and dynamics constraints, namely, kinodynamic constraints of each robot. The network topology control among multiple robots is constructed by an LMST algorithm. The LMST-based topology control not only preserves the connectivity of multi-robot systems but also improves the energy consumption and network communication quality. Simulation results are presented to validate the proposed control system design.