Title :
Formation Control for Mobile Robots with Limited Sensor Information
Author :
Gustavi, Tove ; Hu, Xiaoming
Author_Institution :
Optimization and Systems Theory Royal Institute of Technology SE 100 44 Stockholm, Sweden gustavi@math.kth.se
Abstract :
In this paper mobile multi-agent systems with limited sensor information are studied. Some control algorithms are proposed that do not require global information, and are easy to implement. First two basic controls for a single mobile agent tracking another moving object are derived. Then it is shown how these basic controls can be combined in order to achieve more complex formations.
Keywords :
Formation control; Limited sensor information; Actuators; Algorithm design and analysis; Control systems; Mobile agents; Mobile robots; Multiagent systems; Navigation; Robot control; Robust control; Sensor systems; Formation control; Limited sensor information;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570373
