A hybrid control approach to cooperative target tracking with multiple mobile robots

Authors:
Ying Lan;Gangfeng Yan;Zhiyun Lin
Affiliations:
Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 2
Cited 0

Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges

Robotics and Autonomous Systems
Collective circular motion of multi-vehicle systems

Automatica (Journal of IFAC)

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Abstract

The paper proposes a novel approach based on hybrid control and reachability specification for cooperative target tracking with multiple unicycle-type robots. Robots are steered to get closer to the target when they are far and then switch to coordinate their motion in order to cooperatively capture the target by eventually moving on a circle around the target with equal angular distance between each other.