The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
Controlling formations of multiple mobile robots
Abstract
We investigate feedback laws used to control multiple robots moving together in a formation. We propose a method for controlling formations that uses only local sensor-based information, in a leader-follower motion. We use methods of feedback linearization to exponentially stabilize the relative distance and orientation of the follower, and show that the zero dynamics of the system are also (asymptotically) stable. We demonstrate in simulation the use of these algorithms to control six robots moving around an obstacle. These types of control laws can be used to control arbitrarily large numbers of robots moving in very general types of formations.
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Cites
Harary, F. (1969) · Cited by 10,739
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
Optimal paths for a car that goes both forwards and backwards
Reeds, J., & Shepp, L. (1990) · Pacific Journal of Mathematics · doi:10.2140/pjm.1990.145.367 · Cited by 1,447
Asada, H., & Slotine, J.-J. E. (1988) · Automatica · doi:10.1016/0005-1098(88)90042-8 · Cited by 841
Communication in reactive multiagent robotic systems
Balch, T., & Arkin, R. C. (1994) · Autonomous Robots · doi:10.1007/bf00735341 · Cited by 512
The Geometric Mechanics of Undulatory Robotic Locomotion
Ostrowski, J., & Burdick, J. (1998) · The International Journal of Robotics Research · doi:10.1177/027836499801700701 · Cited by 334
Self-citationTime-varying Feedback Stabilization of Car-like Wheeled Mobile Robots
Samson, C. (1993) · The International Journal of Robotics Research · doi:10.1177/027836499301200104 · Cited by 295
Nonholonomic motion planning for multiple mobile manipulators
Desai, J. P., & Kumar, V. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1997.606863 · Cited by 86
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Cited by
Modeling and control of formations of nonholonomic mobile robots
Desai, J. P., Ostrowski, J. P., & Kumar, V. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.976023 · Cited by 1,158
Self-citationTime-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications
Dong, X., Yu, B., Shi, Z., & Zhong, Y. (2015) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2014.2314460 · Cited by 1,045
Cooperative Control of Dynamical Systems
(2009) · Journal of International Crisis and Risk Communication Research · doi:10.1007/978-1-84882-325-9 · Cited by 985
Gazi, V., & Passino, K. M. (2003) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2003.809765 · Cited by 931
Decentralized control of cooperative robotic vehicles: theory and application
Feddema, J. T., Lewis, C., & Schoenwald, D. A. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2002.803466 · Cited by 256
Metadata
- Authors
- Desai, J. P., Ostrowski, J., & Kumar, V.
- Venue
- Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
- Publisher
- IEEE
- Published
- 2002-11-27
- Volume
- 4
- Pages
- 2864-2869
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2097346851
- Cited by
- 686
- References
- 8
- FWCI
- 20.02
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Desai, J. P., Ostrowski, J., & Kumar, V. (2002). Controlling formations of multiple mobile robots. Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146). https://doi.org/10.1109/robot.1998.680621
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