Journal ArticleDOI
Leader-follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach
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TLDR
This paper investigates the leader-follower formation control problem for nonholonomic mobile robots based on a bioinspired neurodynamics based approach, and proposes an auxiliary angular velocity control law to guarantee the global asymptotic stability of the followers and to further guarantee the local asymPTotic Stability of the entire formation.About:
This article is published in Robotics and Autonomous Systems.The article was published on 2013-09-01. It has received 140 citations till now. The article focuses on the topics: Backstepping & Lyapunov function.read more
Citations
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Journal ArticleDOI
Neural-Learning-Based Telerobot Control With Guaranteed Performance
TL;DR: A neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot and guaranteed performance is achieved at both kinematic and dynamic levels.
Journal ArticleDOI
Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment
Yuanchang Liu,Richard Bucknall +1 more
TL;DR: A novel computer based algorithm that solves the problem of USV formation path planning using the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method.
Journal ArticleDOI
Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory
TL;DR: A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem with rigorous proofs provided by using graph, matrix, and Lyapunov theories.
Journal ArticleDOI
A survey of formation control and motion planning of multiple unmanned vehicles
TL;DR: A detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning.
Journal ArticleDOI
Distributed consensus-based formation control for nonholonomic wheeled mobile robots using adaptive neural network
TL;DR: In this paper, a variable transformation is proposed to convert the formation control problem into a state consensus problem, and the distributed kinematic controllers and neural network torque controllers are derived for each robot such that a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern along the specified reference trajectory.
References
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Journal ArticleDOI
A quantitative description of membrane current and its application to conduction and excitation in nerve
A. L. Hodgkin,A. F. Huxley +1 more
TL;DR: This article concludes a series of papers concerned with the flow of electric current through the surface membrane of a giant nerve fibre by putting them into mathematical form and showing that they will account for conduction and excitation in quantitative terms.
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Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Proceedings ArticleDOI
A stable tracking control method for an autonomous mobile robot
TL;DR: The control rule and limiting method proposed are robot independent and hence can be applied to various kinds of mobile robots with a dead reckoning ability and was implemented on the autonomous mobile robot Yamabico-11.
Journal ArticleDOI
Modeling and control of formations of nonholonomic mobile robots
TL;DR: This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.
Journal ArticleDOI
A vision-based formation control framework
TL;DR: In this article, the authors describe a framework for cooperative control of a group of nonholonomic mobile robots that allows them to build complex systems from simple controllers and estimators, and guarantee stability and convergence in a wide range of tasks.