Stabilization of a hierarchical formation of unicycle robots with velocity and curvature constraints

IEEE Transactions on Robotics

Volumn 25, Issue 5, 2009, Pages 1176-1184

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

^a UNIVERSITY OF PARMA   (Italy)

^b UNIVERSITY OF SIENA   (Italy)

Author keywords

Formation control; Mobile robots; Motion control; Multiagent systems; Nonlinear systems

Indexed keywords

ASYMPTOTIC STABILIZATION; CURVATURE CONSTRAINTS; FIXED POINTS; FORMATION CONTROL; GEOMETRIC APPROACHES; INPUT CONSTRAINTS; LEADER-FOLLOWER; LINEAR VELOCITY; MAXIMUM VELOCITY; RECURSIVE FORMULA; REFERENCE FRAME; ROOTED TREES; SIMULATION EXPERIMENTS; UNICYCLE ROBOTS;

MOTION CONTROL; MOTION PLANNING; NONLINEAR SYSTEMS; STABILIZATION;

MOBILE ROBOTS;

EID: 70350212668     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2026505     Document Type: Article

References (27)

1. F. Bullo, J. Cortés, and S. Martínez, Distributed Control of Robotic Networks (Applied Mathematics Series). Princeton, NJ: Princeton Univ. Press, 2009.
2. L. E. Parker, "Multiple mobile Robot systems," in Handbook of Robotics, B. Siciliano and O. Khatib, Eds., New York: Springer-Verlag, 2008, ch. 40, pp. 921-941.
3. V. Kumar, D. Rus, and G. S. Sukhatme, "Networked robots," in Handbook of Robotics, B. Siciliano and O. Khatib, Eds. New York: Springer-Verlag, 2008, ch. 41, pp. 943-958.
4. A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. Autom. Control, vol. 48, no. 6, pp. 988-1001, Jun. 2003.
5. R. Olfati-Saber, J. A. Fax, and R. M. Murray, "Consensus and cooperation in networked multi-agent systems," Proc. IEEE, vol. 95, no. 1, pp. 215-233, Jan. 2007.
6. H. Ando, Y. Oasa, I. Suzuki, and M. Yamashita, "Distributed memoryless point convergence algorithm for mobile robots with limited visibility," IEEE Trans. Robot. Autom., vol. 15, no. 5, pp. 818-828, Oct. 1999.
7. J. Lin, A. S. Morse, and B. D. O. Anderson, "The multi-agent rendezvous problem. Part 1: The synchronous case," SIAM J. Control Optim., vol. 46, no. 6, pp. 2096-2119, 2007.
8. J. Cortés, S. Martínez, T. Karatas, and F. Bullo, "Coverage control for mobile sensing networks," IEEE Trans. Robot. Autom., vol. 20, no. 2, pp. 243-255, Apr. 2004.
9. J. Meng and M. Egerstedt, "Distributed coordination control of multiagent systems while preserving connectedness," IEEE Trans. Robot., vol. 23, no. 4, pp. 693-703, Aug. 2007.
10. D. V. Dimarogonas and K. J. Kyriakopoulos, "Connectedness preserving distributed swarm aggregation for multiple kinematic robots," IEEE Trans. Robot., vol. 24, no. 5, pp. 1213-1223, Oct. 2008.
11. K. H. Tan and M. A. Lewis, "High precision formation control of mobile robots using virtual structures," Auton. Robots, vol. 4, no. 4, pp. 387-403, 1997.
12. T. Balch and R. C. Arkin, "Behavior-based formation control for multirobot teams," IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 926-939, Dec. 1998.
13. M. Egerstedt and X. Hu, "Formation constrained multi-agent control," IEEE Trans. Autom. Control, vol. 17, no. 6, pp. 947-951, Dec. 2001.
14. P. Tabuada, G. J. Pappas, and P. Lima, "Motion feasibility of multi-agent formations," IEEE Trans. Robot., vol. 21, no. 3, pp. 387-392, Jun. 2005.
15. W. Dong and J. A. Farrell, "Cooperative control ofmultiple nonholonomic mobile agents," IEEE Trans. Autom. Control, vol. 53, no. 6, pp. 1434-1448, Jul. 2008.
16. J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1465-1476, Sep. 2004.
17. Z. Lin, B. A. Francis, and M. Maggiore, "Necessary and sufficient graphical conditions for formation control of unicycles," IEEE Trans. Autom. Control, vol. 50, no. 1, pp. 121-127, Jan. 2005.
18. T. I. Fossen, Guidance and Control of Ocean Vehicles. New York: Wiley, 1994.
19. D. B. Edwards, T. A. Bean, D. L. Odell, and M. J. Anderson, "A leader-follower algorithm for multiple AUV formations," in Proc. IEEE/OES Auton. Underwater Vehicles, 2004, pp. 40-46.
20. T. J. Koo and S. M. Shahruz, "Formation of a group of unmanned aerial vehicles (UAVs)," in Proc. Amer. Control Conf., 2001, pp. 69-74.
21. L. E. Buzogany, M. Pachter, and J. J. D'Azzo, "Automated control of aircraft in formation flight," in Proc. AIAA Guid., Navigat., Control Conf., 1993, pp. 1349-1370.
22. H. Schaub, S. R. Vadali, J. L. Junkins, and K. T. Alfriend, "Spacecraft formation flying control using mean orbit elements," J. Astronaut. Sci., vol. 48, no. 1, pp. 69-87, 2000.
23. R. Burns, C. A. McLaughlin, J. Leitner, and M. Martin, "TechSat21: Formation design, control and simulation," in Proc. IEEE Aerosp. Conf., 2000, vol. 7, pp. 19-25.
24. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowsky, J. Spletzer, and C. Taylor, "A vision-based formation control framework," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 813-825, Oct. 2002.
25. H. G. Tanner, G. J. Pappas, and V. Kumar, "Leader-to-formation stability," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 443-455, Jun. 2004.
26. F. Morbidi, G. L. Mariottini, and D. Prattichizzo, "Vision-based range estimation via Immersion and Invariance for robot formation control," in Proc. IEEE Int. Conf. Robot. Autom., 2008, pp. 504-509.
27. L. Consolini, F. Morbidi, D. Prattichizzo, and M. Tosques, "Leader-follower formation control of nonholonomic mobile robots with input constraints," Automatica, vol. 44, no. 5, pp. 1343-1349, 2008.