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https://hdl.handle.net/2440/106860
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Type: | Journal article |
Title: | Steady formation analysis on multi-robot systems |
Author: | Liu, Y. Yu, H. Lim, C.-C. Shi, P. |
Citation: | Journal of Control and Decision, 2017; 4(1):12-31 |
Publisher: | Taylor & Francis |
Issue Date: | 2017 |
ISSN: | 2330-7706 2330-7714 |
Statement of Responsibility: | Yutong Liu, Hongjun Yu, Cheng-Chew Lim and Peng Shi |
Abstract: | In this paper, a controller is designed for a group of cooperative robots to achieve the stable displacements. Communication network among the robots is assumed unavailable and each robot can only measure the displacements relative to their neighbours. The controller will enable the robots to move to a predefined formation or a special formation under a suitable protocol which we will design. We will discuss the effect of different sizes of the multi-vehicle system and conduct simulations to verify the effectiveness of the proposed controller and the formation protocols. |
Keywords: | Formation control; limited sensing range; controller design; size of multi-vehicle system |
Rights: | © 2016 Northeastern University, China |
DOI: | 10.1080/23307706.2016.1254073 |
Grant ID: | http://purl.org/au-research/grants/arc/DP140102180 http://purl.org/au-research/grants/arc/LP140100471 |
Published version: | http://dx.doi.org/10.1080/23307706.2016.1254073 |
Appears in Collections: | Aurora harvest 8 Electrical and Electronic Engineering publications |
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