Coordinated path following control of multiple wheeled robots with directed communication links

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Volumn 2005, Issue , 2005, Pages 7084-7089

  Ghabcheloo, Reza ^a   Pascoal, António ^a   Silvestre, Carlos ^a   Kaminer, Isaac ^b  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

^b Naval Postgraduate School ^*  (United States)

Author keywords

Coordinated motion control; Graph theory; Nonlinear control; Path following; Wheeled robots

Indexed keywords

GRAPH THEORY; LYAPUNOV METHODS; MOTION CONTROL; MOTION PLANNING; NONLINEAR CONTROL SYSTEMS; TELECOMMUNICATION LINKS;

COMMUNICATION TOPOLOGY; COORDINATED MOTION CONTROL; PATH FOLLOWING; WHEELED ROBOTS;

MOBILE ROBOTS;

EID: 33847213495     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2005.1583303     Document Type: Conference Paper

References (24)

1. Bang-Jensen, J. and Gutin, G. (2002). Digraph Theory, Algorithms and Applications, Springer.
2. Encarnação, P., and Pascoal, A. (2001). Combined trajectory tracking and path following: an application to the coordinated control of marine craft. IEEE Conf. Decision and Control (CDC'2001),Odanao, Florida.
3. Fax, A. and Murray, R. (2002a). Information Flow and Cooperative Control of Vehicle Formations. Proc. 2002 IFAC, Barcelona, Spain.
4. Fax, A. and Murray, R. (2002b). Graph Laplacians and Stabilization of Vehicle Formations In : Proc. 2002 IFAC, Barcelona, Spain.
5. Ghabcheloo, R., Pascoal, A., Silvestre, C., and Kaminer, I. (2004a). Coordinated Path Following Control of Multiple Wheeled Robots. Proc. 5th IFAC Symposium on IAV, July 5-7, 2004. Lisbon, Portugal.
6. Ghabcheloo, R., Pascoal, A., and Silvestre, C. (2004b).Coordinated Path Following Control using Linearization Techniques. Internal Report CPF01, Institute for Systems and Robotics, Jan. 2004.
7. Ghabcheloo, R., Pascoal, A., and Silvestre, C. (2004c). Coordinated Path Following Control using Nonlinear Techniques. Internal Report CPF02, Institute for Systems and Robotics, Nov. 2004.
8. Giuletti, F., Pollini, L., and Innocenti, M. (2000). Autonomous formation flight. IEEE Control Systems Magazine, vol. 20, pp. 34 - 44.
9. Godsil, C. and Royle, G. (2001). Algebraic Graph Theory. Graduated Texts in Mathematics, Springer-Verlag New York, Inc.
10. Horn, R.A. and Johnson, C.R. (1985). Matrix Analysis, Cambridge Univ.
11. Khalil, H. K. (2000). Nonlinear Systems. Third Edition, Pearson Eduacation International, Inc. New Jersey.
12. Kaminer, I., Pascoal, A. and Yakimenko, O. (2005). Nonlinear Path Following Control of Fully Actuated Marine Vehicles with Parameter Uncertainty, 16th IFAC World Congress, Prague, Czech Republic.
13. Lapierre, L., Soetanto, D., and Pascoal, A. (2003). Coordinated motion control of marine robots. Proc. 6th IFAC Conference on Manoeuvering and Control of Marine Craft (MCMC2003), Girona, Spain.
14. Lapierre, L., Soetanto, D. and Pascoal, A. (2003). Nonlinear path following control of autonomous underwater vehicles. Proc. 1st IFAC Conference on GCUV, Newport, South Wales, UK.
15. Lin Z., Francis, B. and Maggiore, M. (2005). Necessary and Sufficient Graphical Conditions for Formation Control of Unicycles. IEEE Trans. on Automatic Control, Vol. 50, No. 1, 2005, pp. 121-127
16. Micaelli, A. and Samson, C. (1993). Trajectory - tracking for unicycle - type and two - steering - wheels mobile robots. Technical Report No. 2097. INRIA, Sophia-Antipolis, France.
17. Ögren, P., Egerstedt, M., and Hu, X. (2002). A control lyapunov function approach to multiagent coordination. IEEE Trans. on Robotics and Automation, Vol. 18.
18. Pascoal, A. et al. (2000). Robotic ocean vehicles for marine science applications: the european ASIMOV Project. Proc. OCEANS'2000 MTS/IEEE, Rhode Island, Providence, USA.
19. Pratcher, M., D'Azzo, J., and Proud, A. (2001). Tight formation control. Journal of Guidance, Control and Dynamics, Vol. 24, NO. 2, MarchApril 2001, pp. 246-254.
20. Rouche, N., Habets, P. and Laloy, M. (1993). Stability theory by Liapunov's direct method. Springer-Verlag New York, Inc.
21. Skjetne, R., Moi, S., and Fossen, T. (2002). Nonlinear formation control of marine craft. Proc. IEEE CDC, Las Vegas, NV.
22. Skjetne, R., Flakstad, I., and Fossen, T. (2003). Formation control by synchronizing multiple maneuvering systems. Proc. 6th IFAC Conf. on Manoeuvering and Control of Marine Craft (MCMC03), Girona, Spain.
23. Soetanto, D., Lapierre, L., and Pascoal, A. (2003). Adaptive, Non-Singular Path Following, Control of Dynamic Wheeled Robots Proc. ICAR'03, Coimbra, Portugal.
24. Sontag E. D. and Wang, Y.(Sept. 1996). New characterizations of input-to-state stability. IEEE Trans. on Aut. Cont., Vol.41 Issue 9., pp 1283-1294