Formation tracking control of mobile robots with limited sensing and without velocity measurements
This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. For each robot an interlaced observer is...
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| Format: | Conference Paper |
| Published: |
2008
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| Online Access: | http://hdl.handle.net/20.500.11937/27225 |
| _version_ | 1848752204557582336 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. For each robot an interlaced observer is designed to estimate the robot unmeasured velocities. p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system. © 2008 IEEE. |
| first_indexed | 2025-11-14T08:04:54Z |
| format | Conference Paper |
| id | curtin-20.500.11937-27225 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:04:54Z |
| publishDate | 2008 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-272252017-09-13T15:32:49Z Formation tracking control of mobile robots with limited sensing and without velocity measurements Do, Khac Duc This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. For each robot an interlaced observer is designed to estimate the robot unmeasured velocities. p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system. © 2008 IEEE. 2008 Conference Paper http://hdl.handle.net/20.500.11937/27225 10.1109/ICARCV.2008.4795518 restricted |
| spellingShingle | Do, Khac Duc Formation tracking control of mobile robots with limited sensing and without velocity measurements |
| title | Formation tracking control of mobile robots with limited sensing and without velocity measurements |
| title_full | Formation tracking control of mobile robots with limited sensing and without velocity measurements |
| title_fullStr | Formation tracking control of mobile robots with limited sensing and without velocity measurements |
| title_full_unstemmed | Formation tracking control of mobile robots with limited sensing and without velocity measurements |
| title_short | Formation tracking control of mobile robots with limited sensing and without velocity measurements |
| title_sort | formation tracking control of mobile robots with limited sensing and without velocity measurements |
| url | http://hdl.handle.net/20.500.11937/27225 |