@inproceedings{78f984938de04011a3c398a3028426e9,
title = "Multi-Robot Source Exploration Under Prescribed-Time Formation Control",
abstract = "This paper presents a solution to the source exploration problem for multiple robots under the formation consensus within a prescribed time. To this end, we design a switching control strategy to drive robots to complete collaborative tasks, which is divided into two stages. The first stage builds a formation consensus algorithm by coupling a time-varying scaling function to reach the desired location in the prescribed time for robots. The second stage puts forward a control scheme based on an adaptive strategy and a predefined-time velocity estimator to complete source exploration under no velocity measurements, where the adaptive strategy is designed combined with the projection operator to estimate the unknown parameters of the scalar field. Eventually, a simulation test is performed to verify the effectiveness of the proposed scheme.",
keywords = "adaptive estimation, formation control, Multi-robot systems, predefined/prescribed-time stability, source exploration",
author = "Li, \{Rui Guo\} and Shi, \{Ze Hao\} and Wang, \{Jin Liang\}",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 ; Conference date: 31-07-2024 Through 02-08-2024",
year = "2025",
doi = "10.1007/978-981-96-0798-3\_31",
language = "英语",
isbn = "9789819607976",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "419--433",
editor = "Xuguang Lan and Xuesong Mei and Caigui Jiang and Fei Zhao and Zhiqiang Tian",
booktitle = "Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings",
address = "德国",
}