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Robust formation adaptation for mobile platforms with noisy sensor information
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2006 (English)In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, NEW YORK: IEEE , 2006, 2527-2532 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper stability and formation adaptation of mobile multi-agent systems with limited sensor information is studied. A globally stable control for line formations with varying separations and bearing angles between the agents is evaluated in simulations and experiments with Khepera. robots. The control algorithm only requires information available from on-board sensors, although stability is improved if communication and sharing of information between the agents is possible. In addition, the control only needs a coarse estimation of the actual target speed.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2006. 2527-2532 p.
Series
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-42058DOI: 10.1109/IROS.2006.281701ISI: 000245452402106Scopus ID: 2-s2.0-34250638558ISBN: 978-1-4244-0258-8 (print)OAI: oai:DiVA.org:kth-42058DiVA: diva2:446440
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, PEOPLES R CHINA. CT 09-13, 2006
Note
QC 20111007Available from: 2011-10-07 Created: 2011-10-05 Last updated: 2012-03-21Bibliographically approved

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Hu, Xiaoming

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CiteExportLink to record
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Citation style
  • apa
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  • modern-language-association-8th-edition
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  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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