Robot navigation functions on manifolds with boundary
Advances in Applied Mathematics
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Theory of Robot Control
Nonlinear formation control of unicycle-type mobile robots
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Decentralized overlapping control of a formation of unmanned aerial vehicles
Automatica (Journal of IFAC)
Brief Backstepping for nonsmooth systems
Automatica (Journal of IFAC)
A feedback stabilization and collision avoidance scheme for multiple independent non-point agents
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
Robotics and Autonomous Systems
A hybrid control approach to cooperative target tracking with multiple mobile robots
ACC'09 Proceedings of the 2009 conference on American Control Conference
Motion Control of a Two-Wheeled Mobile Vehicle with an Inverted Pendulum
Journal of Intelligent and Robotic Systems
Practical formation control of multiple underactuated ships with limited sensing ranges
Robotics and Autonomous Systems
Practical Formation Control of Multiple Unicycle-Type Mobile Robots with Limited Sensing Ranges
Journal of Intelligent and Robotic Systems
Formation control of multiple elliptical agents with limited sensing ranges
Automatica (Journal of IFAC)
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This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. The robot velocities are not required for control implementation. For each robot an interlaced observer, which is a reduced order observer plus an interlaced term, is designed to estimate the robot unmeasured velocities. The observer design is based on a coordinate transformation that transforms the robot dynamics to a new dynamics, which does not contain velocity quadratic terms. The interlaced term is determined after the formation control design is completed to void difficulties due to observer errors and consideration of collision avoidance. Smooth and p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system. Despite the robot limited sensing ranges, no switchings are needed to solve the collision avoidance problem. Simulations illustrate the results.