Formation control of unicycle mobile robots: A virtual structure approach

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2009, Pages 8328-8333

  Van Den Broek, Thijs H A ^a   Van De Wouw, Nathan ^b   Nijmeijer, Henk ^b  

^a TNO   (Netherlands)

^b EINDHOVEN UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

VEHICLES;

COUPLING TERMS; FORMATION CONTROL; FORMATION CONTROL PROBLEMS; LEADER-FOLLOWER APPROACH; MUTUAL COUPLING; VIRTUAL STRUCTURES; WIRELESS COMMUNICATION NETWORK;

MOBILE ROBOTS;

EID: 77950827684     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2009.5399803     Document Type: Conference Paper

References (19)

1. H. Durrant-Whyte and T. Bailey, "Simultaneous localization and mapping: Part i," IEEE Robotics & Automation Magazine, pp. 99-108, June 2006.
2. R. Bishop, Intelligent vehicle technology and trends. Norwood: Artech House, 2005.
3. Z. Wang, Y. Takano, Y. Hirata, and K. Kosuge, "Decentralized cooperative object transportation by multiple mobile robots with a pushing leader," in Distributed Autonomous Robotic Systems 6. Springer Japan, 2007, pp. 453-462.
4. H. Yamaguchi, "A cooperative hunting behavior by mobile-robot troops," International Journal of Robotics Research, vol. 18, no. 9, pp. 931-940, 1999.
5. T. Arai, E. Pagello, and L. E. Parker, "Editorial: Advances in multirobot systems," IEEE Transactions on Robotics and Automation, pp. 655-661, Oct 2002.
6. R. W. Beard, J. Lawton, and F. Y. Hadaegh, "A feedback architecture for formation control," in Proceedings of the American Control Conference, June 2000, pp. 4087-4091.
7. K. Do and J. Pan, "Nonlinear formation control of unicycle-type mobile robots," Robotics and Autonomous Systems, pp. 191-204, 2007.
8. R. C. Arkin, Behavior-based robotics. London: MIT Press, 1998.
9. J. P. Desai, J. P. Ostrowski, and V. Kumar, "Modeling and control of formations of nonholonomic mobile robots," IEEE Transactions on Robotics and Automation, pp. 905-908, Dec 2001.
10. H. G. Tanner, G. J. Pappas, and V. Kumar, "Leader-to-formation stability," IEEE Transactions on Robotics and Automation, pp. 443-455, June 2004.
11. R. Vidal, O. Shakernia, and S. Sastry, "Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation," IEEE International Conference on Robotics and Automation, pp. 584-589, 2003.
12. K.-H. Tan and M. A. Lewis, "Virtual structures for high-precision cooperative mobile robot control," Autonomous Robots, vol. 4, pp. 387-403, 1997.
13. J. Jakubiak, E. Lefeber, K. Tchoń, and H. Nijmeijer, "Two observer-based tracking algortihms for a unicycle mobile robot," International Journal of Applied Mathematical and Computer Science, pp. 513-522, 2002.
14. A. Rodriguez-Angeles and H. Nijmeijer, "Mutual synchronization of robots via estimated state feedback: A cooperative approach," IEEE Transactions on Control Systems Technology, vol. 12, pp. 542-554, July 2004.
15. T. van den Broek, N. van de Wouw, and H. Nijmeijer, "A virtual structure approach to formation control of unicycle mobile robots," Eindhoven University of Technology, the Netherlands, Tech. Rep. DCT.2009.081, 2009.
16. F. Mondada and M. Bonani, "E-puck education robot," 2007, http://www.e-puck.org/.
17. Allied Vision Technologies, AVT Guppy Technical Manual, Allied Vision Technologies GmbH, Taschenweg 2a D-07646 Stadtroda/ Germany, March 2008.
18. M. Kaltenbrunner and R. Bencina, "Reactivision: A computer-vision framework for table-based tangible interaction," in Proceedings of the first international conference on "Tangible and Embedded Interaction", 2007.
19. Python, "Python Programming Language," 2008, http://www.python.org/.