Title :
Decentralized formation flocking and stabilization for networks of unicycles
Author :
Savkin, Andrey V. ; Teimoori, Hamid
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
The paper presents a method for decentralized flocking and global formation stabilization for a network of unicycles described by the standard kinematics equations with hard constraints on the vehicles linear and angular velocities.
Keywords :
angular velocity control; decentralised control; mobile robots; multi-robot systems; robot kinematics; stability; vehicles; angular velocities; decentralized flocking stabilization; global formation stabilization; kinematics equations; unicycles network; vehicles linear velocities; Angular velocity; Distributed control; Equations; Extraterrestrial measurements; Mobile robots; Remotely operated vehicles; Robot kinematics; Sea measurements; Sliding mode control; Unmanned aerial vehicles;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400224
