Formation Control of Unicycle Mobile Robots: a Virtual Structure Approach

T.H.A. van den Broek, N. Wouw, van de, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

79 Citations (Scopus)
3 Downloads (Pure)


In this paper, the formation control problem for unicycle mobile robots is studied. A virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness with respect to perturbations as compared to typical leader-follower approaches. The applicability of the proposed approach is shown in experiments with a group of mobile robots controlled over a wireless communication network.
Original languageEnglish
Title of host publicationProceedings of the joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, China, Shanghai
Publication statusPublished - 2009


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