DocumentCode
2476383
Title
A hybrid control approach to cooperative target tracking with multiple mobile robots
Author
Lan, Ying ; Yan, Gangfeng ; Lin, Zhiyun
Author_Institution
Dept. of Syst. Sci. & Eng., Zhejiang Univ., Hangzhou, China
fYear
2009
fDate
10-12 June 2009
Firstpage
2624
Lastpage
2629
Abstract
The paper proposes a novel approach based on hybrid control and reachability specification for cooperative target tracking with multiple unicycle-type robots. Robots are steered to get closer to the target when they are far and then switch to coordinate their motion in order to cooperatively capture the target by eventually moving on a circle around the target with equal angular distance between each other.
Keywords
cooperative systems; mobile robots; multi-robot systems; reachability analysis; target tracking; cooperative target tracking; hybrid control approach; multiple mobile robot; reachability specification; Communication system control; Game theory; Mobile robots; Motion control; Robot kinematics; Robustness; Switches; Target tracking; Vehicles; Virtual colonoscopy;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2009. ACC '09.
Conference_Location
St. Louis, MO
ISSN
0743-1619
Print_ISBN
978-1-4244-4523-3
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2009.5160617
Filename
5160617
Link To Document