Robotic formation control using variable structure systems approach

Publication Type:
Conference Proceeding
Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications, 2006, 2006 pp. 37 - 42
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This paper addresses robust control of multiple mobile robots moving in desired formations. A rigorous control technique for such an agent-based robotic system may encounter problems of singularity, parameter sensitivity and inter-robot collision. Our proposed framework focuses on the enhancement of robustness as well as collision-free establishment of formations even in the case of singularity and uncertainties in sensing information of the reference coordinates by using variable structure controllers incorporated with a reactive control scheme. Advantages of the approach are verified in simulation of three robots moving in a line, a column and a wedge. © 2006 IEEE.
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