On the control of a leader-follower formation of nonholonomic mobile robots

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2006, Pages 5992-5997

  Consolini, Luca ^b   Morbidi, Fabio ^a   Prattichizzo, Domenico ^a   Tosques, Mario ^b  

^a UNIVERSITY OF SIENA   (Italy)

^b UNIVERSITY OF PARMA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL EQUIPMENT; GEOMETRY; PROBLEM SOLVING;

ADMISSIBLE CURVATURE; GEOMETRIC FRAMEWORK;

MOBILE ROBOTS;

EID: 36049002092     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2006.376730     Document Type: Conference Paper

References (16)

1. T. Balch and R.C. Arkin. Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation, 14(6):926-939, 1998.
2. F. Bullo and A. D. Lewis. Geometric Control of Mechanical Systems, volume 49 of Texts in Applied Mathematics. Springer.
3. A.K. Das, R. Fierro, V. Kumar, J.P. Ostrowsky, J. Spletzer, and C. Taylor. A vision-based formation control framework. IEEE Trasaction on Robotics and Automation, 18(5):813-825, 2002.
4. J. Desai, J. Ostrowski, and V. Kumar. Modelling and control of formations of nonholonomic mobile robots. IEEE Trasaction on Robotics and Automation, 17:905-908, 2001.
5. D.B. Edwards, T.A. Bean, D.L. Odell, and M.J. Anderson. A leader-follower algorithm for multiple AUV formations. IEEE/OES Autonomous Underwater Vehicles, pages 40-46, 2004.
6. R. Fierro, C. Belta, J. Desai, and V. Kumar. On controlling aircraft formations. Conference on Decision and Control, 2:1065-1070, 2001.
7. T. I. Fossen. Guidance and Control of Ocean Vehicles. John Wiley & Sons, 1994.
8. F. Giulietti, L. Pollini, and M. Innocenti. Autonomous formation flight. IEEE Control Systems Magazine, 20(6):34-44, 2000.
9. T.J. Koo and S.M. Shahruz. Formation of a group of unmanned aerial vehicles (UAVs). American Control Conference, 1:69-74, 2001.
10. J. R. Lawton, R. W. Beard, and B. J. Young. A Decentralized Approach to Formation Maneuvers. IEEE Transactions on Robotic and Automation, 19(6), 2003.
11. X. Li, J. Xiao, and Z. Cai. Backstepping based multiple mobile robots formation control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1313-1318, 2005.
12. G.L. Mariottini, G.J. Pappas, D. Prattichizzo, and K. Daniilidis. Vision-based localization of leader-follower formations. IEEE Conference on Decision and Control, pages 635-640, 2005.
13. J. Sanchez and R. Fierro. Sliding mode control for robot formations. IEEE International Symposium on Intelligent Control, 2003.
14. S.N. Singh, P. Chandler, C. Schumacher, S. Banda, and M. Pachter. Adaptive feedback linearizing nonlinear close formation control of UAVs. American Control Conference, 2:854-858, 2000.
15. R. Skjetne, S. Moi, and T. Fossen. Nonlinear formation control of marine craft. IEEE Conference on Decision and Control, 2:1699-1704, 2002.
16. K. Tan and M. Lewis. Virtual structures for high-precision cooperative mobile robotic control. Autonomous Robots, 4:387-403, 1997.