@inproceedings{204eb7cfa82146dc85e22a9105471eaf,
title = "Multi-robot formation control using distributed null space behavioral approach",
abstract = "This paper presents a distributed formation control method for a group of robots. The global objective of achieving a desired formation is obtained by dividing it into a set of local objectives which are achieved in a distributed manner. A basic repetitive pattern in the desired formation is identified and a corresponding unique differentiable task function is defined based on the position coordinates of the robots forming the pattern. Neighbor selection rules are designed for the robots in such a way that each robot is part of one or more such patterns. A singularity-robust task-priority inverse kinematics method is used to design velocity controllers to achieve these patterns. Since a robot can receive multiple control actions being part of multiple task functions or patterns, a distributed null space behavioral (NSB) approach is designed to combine such multiple control actions in a prioritized way. A comprehensive stability analysis of the proposed approach based on Lyapunov methods is presented. Simulation results are provided to verify the effectiveness of the proposed approach.",
keywords = "Formation Control, Multi-robot Systems, NSB Approach",
author = "Shakeel Ahmad and Zhi Feng and Guoqiang Hu",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6907380",
language = "英语",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3607--3612",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "美国",
}