Title :
The problem of decentralized stabilization of formations of wheeled mobile robots
Author :
Savkin, Andrey V. ; Teimoori, Hamid
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
The paper presents a method for decentralized global formation stabilization of a group of several autonomous vehicles described by the standard kinematics equation with hard constraints on the vehicles´ linear and angular velocities.
Keywords :
angular velocity; autonomous aerial vehicles; decentralised control; mobile robots; multi-robot systems; multivariable control systems; robot kinematics; stability; UAV; autonomous vehicles; decentralized global formation stabilization method; decentralized stabilization; hard constraints; standard kinematics equation; vehicle angular velocities; vehicle linear velocities; wheeled mobile robot formation; Decentralized control; Equations; Mobile robots; Robot kinematics; Vectors; Vehicles; Decentralized control; UAVs; autonomous vehicles; formation stabilization; multi-robot networks; wheeled robots;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
