Persistently excited adaptive relative localization and time-varying formation of robot swarms

• Main Authors: Nguyen, Thien-Minh, Qiu, Zhirong, Nguyen, Thien Hoang, Cao, Muqing, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Time-varying Formation; Adaptive Control
• Online Access: https://hdl.handle.net/10356/141921
• Institution: Nanyang Technological University

In this article, we investigate the problem of controlling a multirobot team to follow a leader in formation, supported by a relative position estimate derived from distance and self-displacement measurements, thus waiving the need of external localization infrastructure. The main challenge of the p...