Electrical & Computer Engineering Faculty Publications
Document Type
Article
Publication Date
12-9-2003
Abstract
This work presents an internet-like protocol (ILP) to coordinate the formation of n second-order agents in a two dimensional (2D) space. The trajectories are specified trough via points and a desired formation at each point. A basis for the proof of convergence is given using Lyapunov second method. Simulink is used to verify the response of the agents for a variety of desired trajectories. The proposed algorithms are robust in the sense that they can accommodate changes in the formation of the agents and more importantly, changes in the number of agents as some of them drop of or join the formation.
Publisher
IEEE
Publication Title
Proceedings of the 42nd IEEE Conference on Decision and Control
ISSN
0191-2216
First Page
5109
Last Page
5112
DOI
10.1109/CDC.2003.1272446
Language (ISO)
English
Sponsorship
IEEE
Keywords
Communication system control, Distributed control, Mobile robots
Recommended Citation
Abdallah, Chaouki T.; R. Sandoval-Rodriguez; and R. H. Byme. "Robust mobile robotic formation control using internet-like protocols." Proceedings of the 42nd IEEE Conference on Decision and Control (2003): 5109-5112. doi:10.1109/CDC.2003.1272446.
