Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Observer-Based Leader-Following Formation Control Using Onboard Sensor Information
IEEE Transactions on Robotics
Pattern preserving path following of unicycle teams with communication delays
Robotics and Autonomous Systems
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In this paper, control algorithms are presented for formation keeping and path following for non-holonomic platforms. The controls are based on feedback from onboard directional range sensors, and a switching Kalman filter is introduced for active sensing. Stability is analyzed theoretically and robustness is demonstrated in experiments and simulations.