Robotic formation control using variable structure systems approach

Ha, QP; Ha, HM; Dissanayake, G

Robotic formation control using variable structure systems approach

Ha, QP

Ha, HM Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications, 2006, 2006 pp. 37 - 42
Issue Date:: 2006-12-15

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Field	Value	Language
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.contributor.author	Ha, HM	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2006-12-15	en_US
dc.identifier.citation	Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications, 2006, 2006 pp. 37 - 42	en_US
dc.identifier.isbn	076952589X	en_US
dc.identifier.isbn	9780769525891	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2887
dc.description.abstract	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.	en_US
dc.relation.ispartof	Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications	en_US
dc.relation.isbasedon	10.1109/DIS.2006.64	en_US
dc.title	Robotic formation control using variable structure systems approach	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2006	en_US
utslib.for	0910 Manufacturing Engineering	en_US
dc.location.activity	Prague, CZECH REPUBLIC	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	2006	en_US

Abstract:

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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http://hdl.handle.net/10453/2887