Robust Formation Control using Switching Range Sensors
2010 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 58, no 8, 1003-1016 p.Article in journal (Refereed) Published
In this paper, control algorithms are presented for formation keeping and path followingfor non-holonomic platforms. The controls are based on feedback from onboard directional range sensors, and a switching Kalman filter is introduced for active sensing.Stability is analyzed theoretically and robustness isdemonstrated in experiments and simulations.
Place, publisher, year, edition, pages
2010. Vol. 58, no 8, 1003-1016 p.
Formation control, multi-agent systems, path following, sensor-based feedback control
IdentifiersURN: urn:nbn:se:kth:diva-11142DOI: 10.1016/j.robot.2010.03.015ISI: 000280511200007ScopusID: 2-s2.0-80052702996OAI: oai:DiVA.org:kth-11142DiVA: diva2:236371
QC 201007222009-10-012009-09-222011-11-07Bibliographically approved