Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
A Characterization of the Lie Algebra Rank Condition by Transverse Periodic Functions
SIAM Journal on Control and Optimization
Nonlinear formation control of unicycle-type mobile robots
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Swarm formation control utilizing elliptical surfaces and limiting functions
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Automatica (Journal of IFAC)
Abstraction and control for Groups of robots
IEEE Transactions on Robotics
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)
Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs
Journal of Intelligent and Robotic Systems
A Novel Robust Leader-Following Control Design for Mobile Robots
Journal of Intelligent and Robotic Systems
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
This paper presents a design of cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform a desired tight formation and that guarantee no collisions between any robots in the group. The desired formation can be stabilized at any reference trajectories with bounded time derivatives. The formation control design is based on several nonlinear coordinate changes, the transverse function approach, the backstepping technique, the Lyapunov direct method, and smooth or p驴驴times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need of switchings despite of the robots' limited sensing ranges. The proposed formation control system is applied to solve a gradient climbing problem.