Formation control with potential functions and Newton's iteration


Hanay Y. S., Hunerli H. V., Koksal M. I., Samiloglu A. T., Gazi V.

2007 9th European Control Conference, ECC 2007, Kos, Greece, 2 - 05 July 2007, pp.4584-4590 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.23919/ecc.2007.7068672
  • City: Kos
  • Country: Greece
  • Page Numbers: pp.4584-4590
  • Yıldız Technical University Affiliated: Yes

Abstract

© 2007 EUCA.In this study, we analyze formation control (formation of a geometrical shape) of an autonomous multi-robot system with the use of artificial potential functions and Newton's iteration. The method is independent of the low-level vehicle dynamics of the robots and therefore it can be applied to different type of robots. We also perform numerical simulations to examine the performance of the method.