Please use this identifier to cite or link to this item:
Title: Robust formation control for unicycle robots with directional sensor information
Authors: Li, Yibei
Liu, Lizheng
Gan, Zhongxue
Hu, Xiaoming
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2023
Source: Li, Y., Liu, L., Gan, Z. & Hu, X. (2023). Robust formation control for unicycle robots with directional sensor information. Autonomous Intelligent Systems, 3(1).
Journal: Autonomous Intelligent Systems 
Abstract: In this paper, the formation control problem for a multi-agent system is studied. Two new robust control algorithms for serial and parallel formations respectively are proposed, which take the constraints of limited field of view into consideration. Without the need for any global information, the only relative information required is distance and bearing angle, thus is easy to implement with onboard directional sensors. It is then demonstrated how complex formations can be realized by combining the proposed basic controllers. Finally, effectiveness of the proposed algorithms is illustrated by numerical examples.
ISSN: 2730-616X
DOI: 10.1007/s43684-023-00052-8
Schools: School of Electrical and Electronic Engineering 
Rights: © The Author(s) 2023. Open Access. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

Files in This Item:
File Description SizeFormat 
s43684-023-00052-8.pdf1.54 MBAdobe PDFThumbnail

Citations 50

Updated on Jun 19, 2024

Page view(s)

Updated on Jun 22, 2024


Updated on Jun 22, 2024

Google ScholarTM




Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.