Robust formation adaptation for mobile platforms with noisy sensor information
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 (Refereed)
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.
, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
IdentifiersURN: urn:nbn:se:kth:diva-42058DOI: 10.1109/IROS.2006.281701ISI: 000245452402106ScopusID: 2-s2.0-34250638558ISBN: 978-1-4244-0258-8OAI: oai:DiVA.org:kth-42058DiVA: diva2:446440
IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, PEOPLES R CHINA. CT 09-13, 2006
QC 201110072011-10-072011-10-052012-03-21Bibliographically approved