Remote Formation Control and Collision Avoidance for Multi-Agent Nonholonomic Systems

@article{Mastellone2007RemoteFC,
  title={Remote Formation Control and Collision Avoidance for Multi-Agent Nonholonomic Systems},
  author={Silvia Mastellone and Dusan M. Stipanovic and Mark W. Spong},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={1062-1067}
}
This paper presents a novel decentralized control scheme that achieves dynamic formation control and collision avoidance for a group of nonholonomic robots. First, we derive a feedback law using Lyapunov-type analysis that guarantees collision avoidance and tracking of a reference trajectory for a single robot. Then, we extend this result to the case of multiple nonholonomic robots, and show how different classes of multi-agent problems involving an interacting group of nonholonomic robots such… CONTINUE READING
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