On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
A nonlinear mobile robot modeling applied to a model predictive controller
Proceedings of the 2009 ACM symposium on Applied Computing
Stabilization of a hierarchical formation of unicycle robots with velocity and curvature constraints
IEEE Transactions on Robotics
Multi-robot active target tracking with distance and bearing observations
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Attractor dynamics approach to formation control: theory and application
Autonomous Robots
Multirobot Active Target Tracking With Combinations of Relative Observations
IEEE Transactions on Robotics
A loose synchronisation protocol for managing RF ranging in mobile ad-hoc networks
Robot Soccer World Cup XV
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This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The team must also maintain a desired formation following a target while it is moving, or follow a leader in the case of target's absence. The structure details of the controller, as well as a mathematical analysis of the formation model used, are presented. Furthermore, results of simulations and experiments with real robots are presented and discussed.