Dynamic model based formation control and obstacle avoidance of multi-robot systems

@article{Cruz2008DynamicMB,
  title={Dynamic model based formation control and obstacle avoidance of multi-robot systems},
  author={Celso De La Cruz and Ricardo O. Carelli},
  journal={Robotica},
  year={2008},
  volume={26},
  pages={345-356}
}
This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multirobot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by… CONTINUE READING
Highly Cited
This paper has 57 citations. REVIEW CITATIONS
36 Citations
24 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 36 extracted citations

57 Citations

0510'10'12'14'16'18
Citations per Year
Semantic Scholar estimates that this publication has 57 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 24 references

Formation Tracking Control of a Group of Mobile Robots,

  • R. Kelly, R. Carelli, J. M. Ibarra Zannatha, C. Monroy
  • In Spanish. VI Congreso Mexicano de Robótica,
  • 2004
2 Excerpts

An Experience on Stable Control of Mobile Robots

  • H. Secchi, R. Carelli, V. Mut
  • Latin American Applied Research, Buenos Aires…
  • 2003
2 Excerpts

Similar Papers

Loading similar papers…