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

• المؤلفون الرئيسيون: Nguyen, Thien-Minh, Qiu, Zhirong, Nguyen, Thien Hoang, Cao, Muqing, Xie, Lihua
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2020
• الموضوعات: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Time-varying Formation; Adaptive Control
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/141921
• المؤسسة: 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...