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Title: Relative docking and formation control via range and odometry measurements
Authors: Cao, Kun
Qiu, Zhirong
Xie, Lihua
Keywords: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Issue Date: 2020
Source: Cao, K., Qiu, Z., & Xie, L. (2020). Relative docking and formation control via range and odometry measurements. IEEE Transactions on Control of Network Systems, 7(2), 912-922. doi:10.1109/TCNS.2019.2951893
Journal: IEEE Transactions on Control of Network Systems
Abstract: This article studies the problem of distance-based relative docking of a single robot and formation control of multirobot systems. In particular, an integrated localization and navigation scheme is proposed for a robot to navigate itself to a desired relative position with respect to a fixed landmark at an unknown position, where only range and odometry measurements are used. By carefully embedding historical measurements into equilibrium conditions, we design an integrated estimation-control scheme to achieve the relative docking asymptotically. It is rigorously proved that the robot will converge to the desired docking position asymptotically provided that control gains are chosen to satisfy certain conditions. This scheme is further extended to multirobot systems to consider an integrated relative localization and formation control problem. Unlike widely used spatial cooperation in the existing literature, we propose to exploit both spatial and temporal cooperations for achieving formation control. It is proved that multirobot formation can be achieved with zero error for directed acyclic graphs. Several simulation examples are provided to validate our theoretical results.
ISSN: 2325-5870
DOI: 10.1109/TCNS.2019.2951893
Rights: © 2020 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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