Robust formation control for unicycle robots with directional sensor information

In this paper, the formation control problem for a multi-agent system is studied. Two new robust control algorithms for serial and parallel formations respectively are proposed, which take the constraints of limited field of view into consideration. Without the need for any global information, the o...

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Main Authors:	Li, Yibei, Liu, Lizheng, Gan, Zhongxue, Hu, Xiaoming
Other Authors:	School of Electrical and Electronic Engineering
Format:	Article
Language:	English
Published:	2023
Subjects:	Engineering::Electrical and electronic engineering Formation Control Serial and Parallel Formation
Online Access:	https://hdl.handle.net/10356/171891
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Institution:	Nanyang Technological University
Language:	English

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spelling	sg-ntu-dr.10356-1718912023-11-17T15:41:13Z Robust formation control for unicycle robots with directional sensor information Li, Yibei Liu, Lizheng Gan, Zhongxue Hu, Xiaoming School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Formation Control Serial and Parallel Formation In this paper, the formation control problem for a multi-agent system is studied. Two new robust control algorithms for serial and parallel formations respectively are proposed, which take the constraints of limited field of view into consideration. Without the need for any global information, the only relative information required is distance and bearing angle, thus is easy to implement with onboard directional sensors. It is then demonstrated how complex formations can be realized by combining the proposed basic controllers. Finally, effectiveness of the proposed algorithms is illustrated by numerical examples. Published version This work was in part supported by Shanghai Municipal Science and Technology Major Project (No. 2021SHZDZX0103). 2023-11-15T01:59:18Z 2023-11-15T01:59:18Z 2023 Journal Article Li, Y., Liu, L., Gan, Z. & Hu, X. (2023). Robust formation control for unicycle robots with directional sensor information. Autonomous Intelligent Systems, 3(1). https://dx.doi.org/10.1007/s43684-023-00052-8 2730-616X https://hdl.handle.net/10356/171891 10.1007/s43684-023-00052-8 2-s2.0-85168533505 1 3 en Autonomous Intelligent Systems © The Author(s) 2023. Open Access. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
language	English
topic	Engineering::Electrical and electronic engineering Formation Control Serial and Parallel Formation
spellingShingle	Engineering::Electrical and electronic engineering Formation Control Serial and Parallel Formation Li, Yibei Liu, Lizheng Gan, Zhongxue Hu, Xiaoming Robust formation control for unicycle robots with directional sensor information
description	In this paper, the formation control problem for a multi-agent system is studied. Two new robust control algorithms for serial and parallel formations respectively are proposed, which take the constraints of limited field of view into consideration. Without the need for any global information, the only relative information required is distance and bearing angle, thus is easy to implement with onboard directional sensors. It is then demonstrated how complex formations can be realized by combining the proposed basic controllers. Finally, effectiveness of the proposed algorithms is illustrated by numerical examples.
author2	School of Electrical and Electronic Engineering
author_facet	School of Electrical and Electronic Engineering Li, Yibei Liu, Lizheng Gan, Zhongxue Hu, Xiaoming
format	Article
author	Li, Yibei Liu, Lizheng Gan, Zhongxue Hu, Xiaoming
author_sort	Li, Yibei
title	Robust formation control for unicycle robots with directional sensor information
title_short	Robust formation control for unicycle robots with directional sensor information
title_full	Robust formation control for unicycle robots with directional sensor information
title_fullStr	Robust formation control for unicycle robots with directional sensor information
title_full_unstemmed	Robust formation control for unicycle robots with directional sensor information
title_sort	robust formation control for unicycle robots with directional sensor information
publishDate	2023
url	https://hdl.handle.net/10356/171891
_version_	1783955497064333312

Robust formation control for unicycle robots with directional sensor information

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