2020/05/10 by Nelson P. K. Chan, Bayu Jayawardhana, Héctor García de Marina +1
Computer Science · Engineering · Mathematics · Physics and Astronomy · #Adaptive Control of Nonlinear Systems #Artificial intelligence #Computer science #Control (management) #Control theory (sociology) #Convergence (economics) #Distributed Control Multi-Agent Systems #Geometry #Mathematics #Micro and Nano Robotics #Mobile robot #Plane (geometry) #Property (philosophy) #RADIUS #Robot #Simple (philosophy) #Topology (electrical circuits) #cs.MA #cs.RO #cs.SY #eess.SY #math.OC #msc:34H05 #msc:70E60 #msc:93C10 #msc:93C85
paper · pdf · doi:10.1109/lcsys.2020.3000061
6 pages, submitted to the 59th IEEE Conf. Dec. Control and IEEE Control Systems Letters
arxiv created 2020/05/10 · openalex publication_date 2020/06/04 · arxiv updated 2020/06/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/05
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots' disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular shape.