Decentralized time-varying formation control for multi-robot systems

  title={Decentralized time-varying formation control for multi-robot systems},
  author={Gianluca Antonelli and Filippo Arrichiello and Fabrizio Caccavale and Alessandro Marino},
  journal={I. J. Robotics Res.},
In this paper, a distributed controller–observer schema for tracking control of the centroid and of the relative formation of a multi-robot system with first-order dynamics is presented. Each robot of the team uses a distributed observer to estimate the overall system state and a motion control strategy for tracking control of timevarying centroid and formation. Proof of the overall convergence of the controller–observer schema for different kinds of connection topologies, as well as for the… CONTINUE READING
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A decentralized observer-controller scheme for centroid and formation control with bounded control input. In: 3rd IFAC workshop on estimation and control of networked systems

  • G Antonelli, F Arrichiello, F Caccavale
  • Santa Barbara, CA,
  • 2012
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