Nonlinear Control Systems
Task Modelling in Collective Robotics
Autonomous Robots
A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
Control and Coordination of Multiple Mobile Robots in Manipulation and Material Handling Tasks
The Sixth International Symposium on Experimental Robotics VI
Moving furniture with teams of autonomous robots
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Visual perception of obstacles and vehicles for platooning
IEEE Transactions on Intelligent Transportation Systems
Improved ultra wideband-based tracking of twin-receiver automated guided vehicles
Integrated Computer-Aided Engineering - Anniversary Volume: Celebrating 20 Years of Excellence
Teleoperation of multi-agent systems with nonuniform control input delays
Integrated Computer-Aided Engineering
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This paper presents a formation control of multiple mobile robots based on the leader-follower technique. The control law of the leader robot is designed to track a specified reference path under a nonholonomic constraint of wheeled mobile robots, while that of the follower robot is designed to follow the leader robot with keeping the specified relative distance and the specified relative angle. This paper proposes a modified follower's control law, called the self-made follower input, in which the control law of the follower robot is given by itself. The state of the leader robot is estimated by the relative relationships between the leader and the follower robot in the discrete-time domain. The effectiveness of the proposed technique is demonstrated in simulations on PC and an experiment using real mobile robots.