The DOI matches its Crossref record; 41 of the 41 references it cites were found in a registry or an index.
Leader-Follower Formation Control of Multiple Non-holonomic Mobile Robots Incorporating a Receding-horizon Scheme
Abstract
In this paper we present a receding-horizon leader—follower (RH-LF) control framework to solve the formation problem of multiple non-holonomic mobile robots with a rapid error convergence rate. To maintain the desired leader—follower relationship, we propose a separation—bearing—orientation scheme (SBOS) for two-robot formations and separation—separation—orientation scheme (SSOS) for three-robot formations in deriving the desired postures of the followers. Unlike the other leader—follower approaches in the existing literature, the orientation deviations between the leaders and followers are explicitly controlled in our framework, which enables us to successfully solve formation controls when robots move backwards, which is termed as a formation backwards problem in this paper. Further, we propose to incorporate the receding-horizon scheme into our leader—follower controller to yield a fast convergence rate of the formation tracking errors. Experiments are finally performed on a group of mobile robots to demonstrate the effectiveness of the proposed formation control framework.
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Citations
Cites
Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
Olfati-Saber, R., & Murray, R. M. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.834113 · Cited by 12,788 · cited 1×
“Some other methods were proposed based on artificial potentials (Ogren et al. 2001 Sepulchre et al. 2007) and graph theory (Jadbabaie et al. 2003 Fax and Murray 2004 Olfati-Saber and Murray 2004 Moreau 2005 Olfati-Saber 2006).”
MethodCoordination of groups of mobile autonomous agents using nearest neighbor rules
Jadbabaie, A., Lin, J., & Morse, A. S. (2003) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2003.812781 · Cited by 8,339
Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
Olfati-Saber, R. (2006) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2005.864190 · Cited by 5,037
Information Flow and Cooperative Control of Vehicle Formations
Fax, J. A., & Murray, R. M. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.834433 · Cited by 4,579
Behavior-based formation control for multirobot teams
Balch, T., & Arkin, R. C. (1998) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.736776 · Cited by 3,112
Stability of multiagent systems with time-dependent communication links
Moreau, L. (2005) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.841888 · Cited by 2,706
Asymptotic Stability and Feedback Stabilization
Brockett, R. W. (1982) · Cited by 2,666
CHEN, H., & ALLGöWER, F. (1998) · Automatica · doi:10.1016/s0005-1098(98)00073-9 · Cited by 1,552
Self-citationALLIANCE: an architecture for fault tolerant multirobot cooperation
Parker, L. E. (1998) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.681242 · Cited by 1,312
Ogren, P., Fiorelli, E., & Leonard, N. E. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.832203 · Cited by 1,234
Metadata
- Authors
- Chen, J., Sun, D., Yang, J., & Chen, H.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2009-05-19
- Volume
- 29
- Issue
- 6
- Pages
- 727-747
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2005389191
- Cited by
- 258
- References
- 41
- FWCI
- 20.91
- Type
- journal article
- Language
- en
- Open access
- closed
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- Chen, J., Sun, D., Yang, J., & Chen, H. (2010). Leader-Follower Formation Control of Multiple Non-holonomic Mobile Robots Incorporating a Receding-horizon Scheme. The International Journal of Robotics Research. https://doi.org/10.1177/0278364909104290
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