Distributed Formation Control of Mobile Agents via Global Orientation Estimation

Tran, Quoc Van; Ahn, Hyo‐Sung

doi:10.1109/tcns.2020.2993253

Cited by 21 publications

(9 citation statements)

References 22 publications

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“…For multiple robots, in [16], a finite-time orientation observer that utilizes relative orientations among inter-agent pairs is developed, which ensures that the estimated orientations converge almost globally to the actual orientations. In [17], an orientation observer utilizing an orthogonal matrix is proposed to determine the time-varying orientation for each mobile agent with nonholonomic constraints. Note that the relative orientations are required to be known for the above methods, which are also difficult to obtain in practice.…”

Section: Introductionmentioning

confidence: 99%

Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation

Wang,

Che

et al. 2023

Preprint

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This paper studies the leader-following formation control problem for a group of nonholonomic mobile robots. Different from existing literature, the orientation of each robot is not required to be known, whose accurate value is usually difficult or expensive to obtain via direct measurement. A nonlinear observer is proposed to estimate the orientation of each robot, based on which an obstacle-avoidance constraint using observer-based control barrier function (CBF) is presented, such that the formation problem is converted into a constrained quadratic program (QP), and the desired formation is guaranteed with both static and dynamic obstacles being around. In addition, in order to make the state information of the leader be available to each follower, a new adaptive distributed observer is developed, which eliminates the requirement for leader's acceleration, and avoids the system chattering. Finally, simulation examples and comparisons are provided to validate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation

Wang,

Che

et al. 2023

Preprint

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“…For example, in the formation control of a network of multiple agents (UAVs, mobile robots, etc.) that are spatially distributed [26], [27], it is desirable to compute the formation matching in a distributed fashion over the multiagent network. Moreover, distributed algorithms would be favored in largescale GM (of, e.g., graphs of features in images or social networks of users), in which the intervertex relations might be insecure to share, since the agents only communicate some auxiliary variables.…”

Section: Introductionmentioning

confidence: 99%

Distributed Optimization for Graph Matching

Tran

Sun

Anderson

et al. 2023

IEEE Trans. Cybern.

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“…(2) For the formation stabilization control law, only local velocity and direction measurements are needed. Compared to the stabilization of double-integrator formations using relative position measurements [21], [22], no distance measurements are required in our formation stabilization control law. For the formation maneuvering law, in addition to the measurements mentioned in the stabilization case, we require only one agent, to measure its relative position with respect to a reference agent.…”

Section: Introductionmentioning

confidence: 99%

Stabilizing and Maneuvering Angle Rigid Multiagent Formations With Double-Integrator Agent Dynamics

Chen

Shi

Marina

et al. 2022

IEEE Trans. Control Netw. Syst.

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This paper studies formation stabilization and maneuvering of mobile agents governed by double-integrator dynamics. The desired formation is described by a set of tripleagent angles. A carefully chosen such set of angle constraints guarantees that the desired formation is angle rigid. To achieve the desired angle rigid formation, a stabilization control law is proposed using only local velocity and direction measurements. We show that the closed-loop dynamics of the formation, when each agent is modeled by a double-integrator, are closely related to the corresponding one in single-integrator agent dynamics. Sufficient conditions are constructed to guarantee the closedloop stability for identical and distinct velocity damping gains, respectively. To guide an angle rigid formation to move with the desired translational velocity, orientation and scale, formation maneuvering laws are then proposed. Simulation examples are also provided to validate the results.

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Distributed Formation Control of Mobile Agents via Global Orientation Estimation

Cited by 21 publications

References 22 publications

Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation

Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation

Distributed Optimization for Graph Matching

Stabilizing and Maneuvering Angle Rigid Multiagent Formations With Double-Integrator Agent Dynamics

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