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arXiv · 2504.03126

Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty

Tohid Kargar Tasooji·Sakineh Khodadadi
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Abstract

This paper addresses the problem of distributed coordination control for multi-robot systems (MRSs) in the presence of localization uncertainty using a Linear Quadratic Gaussian (LQG) approach. We introduce a stochastic LQG control strategy that ensures the coordination of mobile robots while optimizing a performance criterion. The proposed control framework accounts for the inherent uncertainty in localization measurements, enabling robust decision-making and coordination. We analyze the stability of the system under the proposed control protocol, deriving conditions for the convergence of the multi-robot network. The effectiveness of the proposed approach is demonstrated through experimental validation using Robotrium simulation experiments, showcasing the practical applicability of the control strategy in real-world scenarios with localization uncertainty.

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Tohid Kargar Tasooji, Sakineh Khodadadi. 2025-03-26. Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty. https://arxiv.org/abs/2504.03126

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