{"title":"A decentralized approach to formation maneuvers","authors":"J. Lawton, R. Beard, B. Young","doi":"10.1109/TRA.2003.819598","DOIUrl":null,"url":null,"abstract":"This paper presents a behavior-based approach to formation maneuvers for groups of mobile robots. Complex formation maneuvers are decomposed into a sequence of maneuvers between formation patterns. The paper presents three formation control strategies. The first strategy uses relative position information configured in a bidirectional ring topology to maintain the formation. The second strategy injects interrobot damping via passivity techniques. The third strategy accounts for actuator saturation. Hardware results demonstrate the effectiveness of the proposed control strategies.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1051","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Trans. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TRA.2003.819598","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1051
Abstract
This paper presents a behavior-based approach to formation maneuvers for groups of mobile robots. Complex formation maneuvers are decomposed into a sequence of maneuvers between formation patterns. The paper presents three formation control strategies. The first strategy uses relative position information configured in a bidirectional ring topology to maintain the formation. The second strategy injects interrobot damping via passivity techniques. The third strategy accounts for actuator saturation. Hardware results demonstrate the effectiveness of the proposed control strategies.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
