Formation Control of Unicycle Mobile Robots: a Virtual Structure Approach

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

doi:10.1109/CDC.2009.5399803

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 proceeding › Conference contribution › Academic › peer-review

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Abstract

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 language	English
Title of host publication	Proceedings of the joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, China, Shanghai
Pages	3264-3269
DOIs	https://doi.org/10.1109/CDC.2009.5399803
Publication status	Published - 2009

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10.1109/CDC.2009.5399803

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title = "Formation Control of Unicycle Mobile Robots: a Virtual Structure Approach",

abstract = "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.",

author = "{van den Broek}, T.H.A. and {Wouw, van de}, N. and H. Nijmeijer",

year = "2009",

doi = "10.1109/CDC.2009.5399803",

language = "English",

isbn = "978-1-4244-3871-6",

pages = "3264--3269",

booktitle = "Proceedings of the joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, China, Shanghai",

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Formation Control of Unicycle Mobile Robots: a Virtual Structure Approach. / van den Broek, T.H.A.; Wouw, van de, N.; Nijmeijer, H.
Proceedings of the joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, China, Shanghai. 2009. p. 3264-3269.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Nijmeijer, H.

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AB - 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.

U2 - 10.1109/CDC.2009.5399803

DO - 10.1109/CDC.2009.5399803

M3 - Conference contribution

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BT - Proceedings of the joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, China, Shanghai

ER -

Formation Control of Unicycle Mobile Robots: a Virtual Structure Approach

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