2018
DOI: 10.1017/s0263574718000942
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A formation maneuvering controller for multiple non-holonomic robotic vehicles

Abstract: SUMMARYIn this paper, we present a new leader–follower type solution to the translational maneuvering problem for formations of multiple, non-holonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a spanning tree. Our control law incorporates two types of position errors: individual tracking errors and coordination errors for leader–follower pairs in the spanning tree. The control ensures that the robots globally acquire a given planar formation … Show more

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Cited by 14 publications
(4 citation statements)
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References 49 publications
(86 reference statements)
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“…Four seed agents acted as a static reference point for all other agents. Other methods that use seed/leader agents can be found in the works of Khaledyan and de Queiroz (2017), Cicerone et al (2016), Hasan et al (2018), and Wang et al (2017). Furthermore, Derakhshandeh et al (2016), Di Luna et al (2017), and Yamauchi and Yamashita (2014) explored autonomous leader election algorithms to avoid manually defining leaders.…”
Section: Related Work and Research Contextmentioning
confidence: 99%
“…Four seed agents acted as a static reference point for all other agents. Other methods that use seed/leader agents can be found in the works of Khaledyan and de Queiroz (2017), Cicerone et al (2016), Hasan et al (2018), and Wang et al (2017). Furthermore, Derakhshandeh et al (2016), Di Luna et al (2017), and Yamauchi and Yamashita (2014) explored autonomous leader election algorithms to avoid manually defining leaders.…”
Section: Related Work and Research Contextmentioning
confidence: 99%
“…A large portion of these studies focus on formation control schemes where robots are instructed to maintain a desired formation while following a global path. In one study, a leader-follower control scheme was developed to solve the translational maneuvering problem for robotic fleets [33]. Their control law consists of individual tracking errors and coordination tracking errors for leader-follower pairs.…”
Section: Introductionmentioning
confidence: 99%
“…Thus, existing approaches to Lyapunov function-based formation control [18] do not apply to problems with such requirements. Further, existing literature [19] relies on assigning leader-follower roles to the agents in a formation, thus avoiding multi-objective control formulations for the agents. In contrast to this, we assume homogeneous roles for the agents in our work and present a multi-objective constrained control algorithm for each agent in the formation.…”
Section: Introductionmentioning
confidence: 99%