A method for decentralized formation building for unicycle-like mobile robots

Savkin, AV; Wang, C; Baranzadeh, A; Xi, Z; Nguyen, HT

A method for decentralized formation building for unicycle-like mobile robots

Savkin, AV Wang, C Baranzadeh, A Xi, Z Nguyen, HT

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Publication Type:: Conference Proceeding
Citation:: 2013 9th Asian Control Conference, ASCC 2013, 2013
Issue Date:: 2013-10-31

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Field	Value	Language
dc.contributor.author	Savkin, AV	en_US
dc.contributor.author	Wang, C	en_US
dc.contributor.author	Baranzadeh, A	en_US
dc.contributor.author	Xi, Z	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2013-10-31	en_US
dc.identifier.citation	2013 9th Asian Control Conference, ASCC 2013, 2013	en_US
dc.identifier.isbn	9781467357692	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120229
dc.description.abstract	The paper presents a method for decentralized flocking and global formation building for a network of unicy-cles described by the standard kinematics equations with hard constraints on the vehicles linear and angular velocities. We propose decentralized motion coordination control algorithms for the robots so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The effectiveness of the proposed control algorithms is illustrated via computer simulations. © 2013 IEEE.	en_US
dc.relation.ispartof	2013 9th Asian Control Conference, ASCC 2013	en_US
dc.relation.isbasedon	10.1109/ASCC.2013.6606099	en_US
dc.title	A method for decentralized formation building for unicycle-like mobile robots	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

The paper presents a method for decentralized flocking and global formation building for a network of unicy-cles described by the standard kinematics equations with hard constraints on the vehicles linear and angular velocities. We propose decentralized motion coordination control algorithms for the robots so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The effectiveness of the proposed control algorithms is illustrated via computer simulations. © 2013 IEEE.

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http://hdl.handle.net/10453/120229