Modeling and control of formations of nonholonomic mobile robots

By J. Desai, J. Ostrowski, Vijay R. Kumar. IEEE Trans. Robotics Autom., 2001

1,232 citations recorded by the source corpus.

Subfields: Computer Networks and Communications, Computer Vision and Pattern Recognition, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/3e502fb40768c140ef24ea742a212c263f380f71

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Citations in the corpus

Stable flocking of mobile agents, part I: fixed topology (2003, background): “Related problems have become a major thrust in systems and control theory, in the context of cooperative control, distributed control of multiple vehicles and formation control; see for example [15], [2], [22], [24], [6], [17], [8], [29], [12], [20], [4], [13], [36], [23].”
Coordination of groups of mobile autonomous agents using nearest neighbor rules (2002, background): “…simulation results which demonstrate that the nearest neighbor rule they are studying can cause all agents to eventually move in the same direction despite the absence of centralized coordination and despite the fact that each agent’s set of nearest neighbors change with time as the system evolves.”
Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots (2008, methodology): “, l − l scheme [1]) which is based on the relative distances between a follower robot k and its leaders i and j.”
Swarm aggregations using artificial potentials and sliding-mode control (2005, background): “Some of the work we would like to mention here include the work by Desai and his colleagues in [15], [16], where the authors use graph theory to model a formation of robots navigating a terrain with obstacles; Egerstedt and coworkers in [17], [18], where the authors develop a formation control strat”
Cooperative Control of Multiple Nonholonomic Mobile Agents (2008, background): “Various control strategies have been proposed, such as behavior-based [1]–[3], virtual structure [4]–[6], leader-follower [7]–[10], artificial potentials [11]–[16], and graph theoretical [17]–[20] methods.”
Nonholonomic navigation and control of cooperating mobile manipulators (2003, background): “Of particular importance nowadays, given the recent advances in communication and computation capabilities of robotic systems, is the issue of coordinated motion of multiple nonholonomic robotic systems [5], [6], [7].”
Gibson Env: Real-World Perception for Embodied Agents (2018, background): “A large portion of them are nonlearning based [50, 27, 49], while recent methods have attempted learning visuomotor policies end-to-end [100, 54] taking advantage of imitation learning [69], reinforcement learning [74, 41, 73, 41, 5, 6], acting by prediction [28] or self-supervision [38, 63, 28, 62,”
Swarm Formation Control Utilizing Elliptical Surfaces and Limiting Functions (2009, methodology): “In [33] the leader–follower approach is extended by adding a control graph that defines the relative position of”
Multi-robot formation control and object transport in dynamic environments via constrained optimization (2017, neutral): “Other approaches exist, Desai et al. (2001) combined decentralized feedback laws with graph theory, Zhou and Schwager (2015) considered rigid formations, and Cheah et al. (2009) deﬁned a formation via coverage.”
A vision-based formation control framework (2002, background): “We assume, as in [17], the robots are labeled and one of the robots, designated as , is the lead (or reference) robot.”
A new observer-type consensus protocol for linear multi-agent dynamical systems (2011, background): “This is partly due to its wide applications in sensor networks [5, 6], robotic teams [7, 8], satellite array formation [9], and so on.”
Abstraction and control for Groups of robots (2004, background): “Finally, to limit the amount of interrobot communication in the overall control architecture, we want to achieve an architecture where the control law of a robot only depends on its own state and the low-dimensional state of the team from the group manifold, as follows: (14)”
Stability analysis of swarms (2002, methodology): “Recently, formation control results that use control theory for controller development and stability analysis have begun to appear [28, 29, 32, 79, 64].”