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Observer-based decentralized approach to robotic formation control

Nguyen, A. D., Ha, Q. P., Huang, S. and Trinh, Hieu 2004, Observer-based decentralized approach to robotic formation control, in Proceedings of the 2004 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, [Canberra, A.C.T.], pp. 1-8.

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Title Observer-based decentralized approach to robotic formation control
Author(s) Nguyen, A. D.
Ha, Q. P.
Huang, S.
Trinh, Hieu
Conference name Australasian Conference on Robotics and Automation (2004: Canberra, A.C.T.)
Conference location Canberra, A.C.T.
Conference dates 6-8 Dec. 2004
Title of proceedings Proceedings of the 2004 Australasian Conference on Robotics & Automation
Editor(s) Barnes, Nick
Austin, David
Publication date 2004
Conference series Australasian Conference on Robotics and Automation
Start page 1
End page 8
Publisher Australian Robotics & Automation Association
Place of publication [Canberra, A.C.T.]
Summary Control of a group of mobile robots in a formation requires not only environmental sensing but also communication among vehicles. Enlarging the size of the platoon of vehicles causes difficulties due to communications bandwidth limitations. Decentralized control may be an appropriate approach in those cases when the states of all vehicles cannot be obtained in a centralized manner. This paper presents a solution to the problem of decentralized implementation of a global state-feedback controller for N mobile robots in a formation. The proposed solution is based on the design of functional observers to estimate asymptotically the global state-feedback control signals by using the corresponding local output information and some exogenous global functions. The proposed technique is tested through simulation and experiments for the control of groups of Pinoneer-based non-holonomic mobile robots.
Notes
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ISBN 0958758360
9780958758369
Language eng
Field of Research 091302 Automation and Control Engineering
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2004, Australian Robotics & Automation Association
Persistent URL http://hdl.handle.net/10536/DRO/DU:30009638

Document type: Conference Paper
Collections: School of Engineering and Technology
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