Notification:
We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

Observer-Based Leader-Following Formation Control Using Onboard Sensor Information

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Gustavi, T. ; Div. of Optimization & Syst. Theor., R. Inst. of Technol., Stockholm ; Xiaoming Hu

In this paper, leader-following formation control for mobile multiagent systems with limited sensor information is studied. The control algorithms developed require information available from onboard sensors only, and in particular, the measurement of the leader (neighbor) speed is not needed. Instead, an observer is designed for the estimation of this speed. With the proposed control algorithms as building blocks, many complex formations can be obtained.

Published in:

Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 6 )