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Title: Persistently excited adaptive relative localization and time-varying formation of robot swarms
Authors: Nguyen, Thien-Minh
Qiu, Zhirong
Nguyen, Thien Hoang
Cao, Muqing
Xie, Lihua
Keywords: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Issue Date: 2019
Source: Nguyen, 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.2019.2954677
Journal: IEEE Transactions on Robotics 
Abstract: In 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.
ISSN: 1552-3098
DOI: 10.1109/TRO.2019.2954677
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:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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