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Observer-based decentralized approach to robotic formation control

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conference contribution
posted on 2004-01-01, 00:00 authored by A Nguyen, Q Ha, S Huang, Hieu TrinhHieu Trinh
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.

History

Event

Australasian Conference on Robotics and Automation (2004: Canberra, A.C.T.)

Pagination

1 - 8

Publisher

Australian Robotics & Automation Association

Location

Canberra, A.C.T.

Place of publication

[Canberra, A.C.T.]

Start date

2004-12-06

End date

2004-12-08

ISBN-13

9780958758369

ISBN-10

0958758360

Language

eng

Notes

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Publication classification

E1 Full written paper - refereed

Copyright notice

2004, Australian Robotics & Automation Association

Editor/Contributor(s)

N Barnes, D Austin

Title of proceedings

Proceedings of the 2004 Australasian Conference on Robotics & Automation

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