2021
DOI: 10.1109/tcsii.2021.3066555
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Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots With Collision Avoidance

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Cited by 41 publications
(20 citation statements)
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“…In another study, Li et al proposed the adaptive bearing-based formation protocol for nonholonomic MVSs in [23]. Furthermore, a gradientdescent finite-time formation tracking strategy was pro-posed in [24] for heterogeneous mobile robots. Nevertheless, bearing-based approaches may lead to a slower convergence rate with the comparison of edge-based formation methods.…”
Section: Introductionmentioning
confidence: 99%
“…In another study, Li et al proposed the adaptive bearing-based formation protocol for nonholonomic MVSs in [23]. Furthermore, a gradientdescent finite-time formation tracking strategy was pro-posed in [24] for heterogeneous mobile robots. Nevertheless, bearing-based approaches may lead to a slower convergence rate with the comparison of edge-based formation methods.…”
Section: Introductionmentioning
confidence: 99%
“…Recent research trend has focused on coordination tasks in a distributed manner that use less information on measurements because of some advantages, for example, cost-effectiveness, lightness, and simplicity of sensor systems, in practical applications. In this aspect, there has been much literature on the distributed formation control [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] and network localization [21][22][23][24][25][26] problems using bearing measurements, which require the minimal capability for sensor systems compared to the other measurements. The bearing measurements can be obtained by equipping on-board vision sensors in reality.…”
Section: Introductionmentioning
confidence: 99%
“…In the existing actual flight formation control for UAVs, although UAV can form the desired formation, it can not effectively specify and track the overall trajectory of UAV swarm. Furthermore, in practical applications, UAVs should be able to follow a specific trajectory or the states of real or virtual leaders as well as avoiding obstacles on the path [20]. In order to solve the above problems, the concept of formation tracking is proposed.…”
Section: Introductionmentioning
confidence: 99%