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

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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.

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