ICRA 2012 Paper Abstract


Paper TuD05.4

Sadowska, Anna (Queen Mary University of London), Kostic, Dragan (Eindhoven University of Technology), van de Wouw, Nathan (Eindhoven University of Technology), Huijberts, Henri (Queen Mary, University of London), Nijmeijer, Hendrik (Eindhoven University of Technology)

Distributed Formation Control of Unicycle Robots

Scheduled for presentation during the Regular Session "Multi-Robot Systems II" (TuD05), Tuesday, May 15, 2012, 17:15−17:30, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Distributed Robot Systems, Path Planning for Multiple Mobile Robots or Agents


In this paper, we consider the problem of distributed formation control for a group of unicycle robots. We propose a control algorithm that solves the formation control problem in that it ensures that robots create a desired timeľ varying formation shape while the formation as a whole follows a prescribed trajectory. Moreover, we show that it is also possible to obtain coordination of robots in the formation, regardless of the trajectory tracking of the formation. We illustrate the behavior of a group of robots controlled by the formation control algorithm proposed in this paper in a simulation study.



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