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dc.contributor.authorNguyen, Thien-Minhen_US
dc.contributor.authorQiu, Zhirongen_US
dc.contributor.authorNguyen, Thien Hoangen_US
dc.contributor.authorCao, Muqingen_US
dc.contributor.authorXie, Lihuaen_US
dc.identifier.citationNguyen, T.-M., Qiu, Z., Nguyen, T. H., Cao, M., & Xie, L. (2020). Persistently excited adaptive relative localization and time-varying formation of robot swarms. IEEE Transactions on Robotics, 36(2), 553-560. doi:10.1109/TRO.2019.2954677en_US
dc.description.abstractIn this article, we investigate the problem of controlling a multirobot team to follow a leader in formation, supported by a relative position estimate derived from distance and self-displacement measurements, thus waiving the need of external localization infrastructure. The main challenge of the problem, which is to simultaneously fulfill both relative localization and control tasks, is efficiently and novelly resolved by embedding a distance-displacement-based persistently excited adaptive relative localization technique into a time-varying formation with bounded control input (PEARL-TVF). By assuming that the leader is globally reachable and by selecting proper parameters, it is shown that the PEARL-TVF ensures exponentially convergent localization, which leads to exponentially convergent formation when the leader's behavior is deterministic, and bounded formation error for a nondeterministic leader. Numerical simulations and experiments on quadcopters are provided to verify the theoretical findings.en_US
dc.description.sponsorshipNRF (Natl Research Foundation, S’pore)en_US
dc.relation.ispartofIEEE Transactions on Roboticsen_US
dc.rights© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
dc.subjectEngineering::Electrical and electronic engineering::Control and instrumentation::Control engineeringen_US
dc.titlePersistently excited adaptive relative localization and time-varying formation of robot swarmsen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.contributor.organizationST Engineering-NTU Corporate Laben_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsTime-varying Formationen_US
dc.subject.keywordsAdaptive Controlen_US
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