Formation control of unicycle robots using virtual structure approach

A.D. Sadowska; H.J.C. Huijberts; D. Kostic; N. Wouw, van de; H. Nijmeijer

doi:10.1109/ICAR.2011.6088583

Formation control of unicycle robots using virtual structure approach

A.D. Sadowska, H.J.C. Huijberts, D. Kostic, N. Wouw, van de, H. Nijmeijer

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

11 Citations (Scopus)

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Abstract

This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error variables to the origin and illustrate the behavior of a group of robots under the formation control algorithm in simulations and experiments

Original language	English
Title of host publication	Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 20-23 June 2011, Tallinn, Estonia
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	365-370
ISBN (Print)	978-1-4577-1158-9
DOIs	https://doi.org/10.1109/ICAR.2011.6088583
Publication status	Published - 2011

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Sadowska, A. D., Huijberts, H. J. C., Kostic, D., Wouw, van de, N., & Nijmeijer, H. (2011). Formation control of unicycle robots using virtual structure approach. In Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 20-23 June 2011, Tallinn, Estonia (pp. 365-370). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICAR.2011.6088583

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title = "Formation control of unicycle robots using virtual structure approach",

abstract = "This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error variables to the origin and illustrate the behavior of a group of robots under the formation control algorithm in simulations and experiments",

author = "A.D. Sadowska and H.J.C. Huijberts and D. Kostic and {Wouw, van de}, N. and H. Nijmeijer",

year = "2011",

doi = "10.1109/ICAR.2011.6088583",

language = "English",

isbn = "978-1-4577-1158-9",

pages = "365--370",

booktitle = "Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 20-23 June 2011, Tallinn, Estonia",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

}

Sadowska, AD, Huijberts, HJC, Kostic, D , Wouw, van de, N & Nijmeijer, H 2011, Formation control of unicycle robots using virtual structure approach. in Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 20-23 June 2011, Tallinn, Estonia. Institute of Electrical and Electronics Engineers, Piscataway, pp. 365-370. https://doi.org/10.1109/ICAR.2011.6088583

Formation control of unicycle robots using virtual structure approach. / Sadowska, A.D.; Huijberts, H.J.C.; Kostic, D. et al.
Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 20-23 June 2011, Tallinn, Estonia. Piscataway: Institute of Electrical and Electronics Engineers, 2011. p. 365-370.

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

TY - GEN

T1 - Formation control of unicycle robots using virtual structure approach

AU - Sadowska, A.D.

AU - Huijberts, H.J.C.

AU - Kostic, D.

AU - Wouw, van de, N.

AU - Nijmeijer, H.

PY - 2011

Y1 - 2011

N2 - This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error variables to the origin and illustrate the behavior of a group of robots under the formation control algorithm in simulations and experiments

AB - This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error variables to the origin and illustrate the behavior of a group of robots under the formation control algorithm in simulations and experiments

U2 - 10.1109/ICAR.2011.6088583

DO - 10.1109/ICAR.2011.6088583

M3 - Conference contribution

SN - 978-1-4577-1158-9

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BT - Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 20-23 June 2011, Tallinn, Estonia

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -

Sadowska AD, Huijberts HJC, Kostic D , Wouw, van de N , Nijmeijer H. Formation control of unicycle robots using virtual structure approach. In Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 20-23 June 2011, Tallinn, Estonia. Piscataway: Institute of Electrical and Electronics Engineers. 2011. p. 365-370 doi: 10.1109/ICAR.2011.6088583

Formation control of unicycle robots using virtual structure approach

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