The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
SIAM Journal on Control and Optimization
Brief paper: Leader-follower formation control of nonholonomic mobile robots with input constraints
Automatica (Journal of IFAC)
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Motion feasibility of multi-agent formations
IEEE Transactions on Robotics
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots
IEEE Transactions on Robotics
Multi-group coordination control for robot swarms
Automatica (Journal of IFAC)
Multi-robot nonlinear model predictive formation control: Moving target and target absence
Robotics and Autonomous Systems
Hi-index | 0.00 |
The paper proposes a new geometric approach to the stabilization of a hierarchical formation of unicycle robots. Hierarchical formations consist of elementary leader-follower units disposed on a rooted tree: each follower sees its relative leader as a fixed point in its own reference frame. Robots' linear velocity and trajectory curvature are forced to satisfy some given bounds. The major contribution of the paper is to study the effect of these bounds on the admissible trajectories of the main leader. In particular, we provide recursive formulas for the maximum velocity and curvature allowed for the main leader, so that the robots can achieve the desired formation while respecting their input constraints. An original formation control law is proposed and the asymptotic stabilization is proved. Simulation experiments illustrate the theory and show the effectiveness of the proposed designs.