DocumentCode
2937098
Title
Formation Control for Mobile Robots with Limited Sensor Information
Author
Gustavi, Tove ; Hu, Xiaoming
Author_Institution
Optimization and Systems Theory Royal Institute of Technology SE 100 44 Stockholm, Sweden gustavi@math.kth.se
fYear
2005
fDate
18-22 April 2005
Firstpage
1791
Lastpage
1796
Abstract
In this paper mobile multi-agent systems with limited sensor information are studied. Some control algorithms are proposed that do not require global information, and are easy to implement. First two basic controls for a single mobile agent tracking another moving object are derived. Then it is shown how these basic controls can be combined in order to achieve more complex formations.
Keywords
Formation control; Limited sensor information; Actuators; Algorithm design and analysis; Control systems; Mobile agents; Mobile robots; Multiagent systems; Navigation; Robot control; Robust control; Sensor systems; Formation control; Limited sensor information;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570373
Filename
1570373
Link To Document