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


© 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.