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Multi-robot formation control and terrain servoing with limited 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.ORCID iD: 0000-0003-0177-1993
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2005 (English)In: IFAC Proc. Vol. (IFAC-PapersOnline), 2005, 577-582 p.Conference paper, Published paper (Refereed)
Abstract [en]

in this paper mobile multi-agent systems with limited sensor information are studied. Two control algorithms are proposed that do not require global information, and are easy to implement. The control problems are motivated by robotic applications such as cleaning, grass mowing and land mines detection, where a common control problem is the complete coverage path planning, for which it is known that parallel formation is optimal. The proposed control algorithms provide terrain servoing for the leading robot and parallel formation keeping for the followers, both of which are only based on measurements from range sensors.

Place, publisher, year, edition, pages
2005. 577-582 p.
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 16
Keyword [en]
Feedback, Mobile robots, Robot control, Robot navigation, Sensors, Control problems, Formation keeping, Global informations, Land mine, Mobile multi-agent systems, Multi-robot formation, Range sensors, Robotic applications, Sensor informations, Servoing, Algorithms, Automation, Control, Intelligent agents, Landforms, Multi agent systems, Robot programming, Robots, Robotics
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-156294Scopus ID: 2-s2.0-79960735459ISBN: 008045108X (print)ISBN: 9780080451084 (print)OAI: oai:DiVA.org:kth-156294DiVA: diva2:766816
Conference
16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005, 3 July 2005 through 8 July 2005, Prague, Czech Republic
Note

QC 20141128

Available from: 2014-11-28 Created: 2014-11-26 Last updated: 2014-11-28Bibliographically approved

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Hu, Xiaoming

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf