By Topic

Control design for flexible hierarchical formation of multiple robots

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)
Yutao Tang ; Key Lab. of Syst. & Control, Beijing, China ; Yiguang Hong

In this paper, we consider flexible formation and related control design of multi-robot systems. A hierarchical structure is provided for flexible formation of unicycle robots. With the virtual hierarchy defined in light of interconnection graphs, the formation and related parameters can be changed in different levels of the whole structure. The formation control design is given from a leader-following viewpoint. Stability analysis is also provided after that.

Published in:

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Date of Conference:

6-8 July 2012