Robust formation control and servoing using switching range sensors
نویسندگان
چکیده
In this paper, control algorithms are presented for formation keeping and path following for non-holonomic platforms. The controls are based on feedback from onboard directional range sensors, and a switching Kalman filter is introduced for active sensing. Stability is analyzed theoretically and robustness is demonstrated in experiments and simulations.
منابع مشابه
Robust Formation Control using Switching Range Sensors
In this paper, control algorithms are presented for formation keeping and path following for non-holonomic platforms. The controls are based on feedback from onboard directional range sensors, and a switching Kalman filter is introduced for active sensing. Stability is analyzed theoretically and robustness is demonstrated in experiments and simulations.
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عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 58 شماره
صفحات -
تاریخ انتشار 2010