Formation Control of Nonholonomic Vehicles Under Time Delayed Communications

Abstract

This document considers the formation control problem for a group of nonholonomic mobile robots under time delayed communications. The agents are assumed to be working under a directed and fixed communication topology. A recently developed formation control technique, based on a consensus protocol for linear systems is revisited. The stability analysis of… (More)
DOI: 10.1109/TASE.2015.2424252

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