Multi-agent formation control in switching networks using backstepping design
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-016-0166-8
Abstract: A rigid formation control problem of n agents described by double integrators is proposed in this paper. At the same time, the arbitrary switching topology with no dwell time between consecutive switches is considered. Then… read more here.
Keywords: formation control; control; rigid formation; topology ... See more keywords
A Rigid Formation Control Approach for Multi-Agent Systems With Curvature Constraints
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2021.3069768
Abstract: A coordinated control law to achieve rigid formation based on directed graph constructed by the Henneberg insertion for multi-agent systems subject to nonholonomic constraints and curvature constraints is proposed. The stability of the multi-agent system… read more here.
Keywords: multi agent; rigid formation; control;
Vision-Based Output-Feedback Leader-Follower Rigid Formation Tracking Control for Multiple Mobile Robots
Sign Up to like & getrecommendations! Published in 2024 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2024.3510691
Abstract: This article presents a novel vision-based rigid formation framework for multiple mobile robot systems. The proposed framework integrates multiple formation tracking models, facilitating the achievement of rigid formation while addressing field-of-view (FOV) constraints. To resolve… read more here.
Keywords: vision based; control; rigid formation; leader ... See more keywords
Leader-Follower Based Locally Rigid Formation Control
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DOI: 10.1155/2018/5278565
Abstract: This paper addresses motion control of a cooperative intelligent transport system (C-ITS) of nonholonomic mobile robots navigating a dynamic environment while maintaining a locally rigid formation. We consider the design of acceleration-based control inputs that… read more here.
Keywords: locally rigid; control; leader follower; rigid formation ... See more keywords