Observer-Based Leader-Following Formation Control Using Onboard Sensor Information

@article{Gustavi2008ObserverBasedLF,
  title={Observer-Based Leader-Following Formation Control Using Onboard Sensor Information},
  author={Tove Gustavi and Xiaoming Hu},
  journal={IEEE Transactions on Robotics},
  year={2008},
  volume={24},
  pages={1457-1462}
}
In this paper, leader-following formation control for mobile multiagent systems with limited sensor information is studied. The control algorithms developed require information available from onboard sensors only, and in particular, the measurement of the leader (neighbor) speed is not needed. Instead, an observer is designed for the estimation of this speed. With the proposed control algorithms as building blocks, many complex formations can be obtained. 
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Multirobot tracking of a moving object using directional sensors

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