A simple formation-tracking controller of mobile robots based on a "spanning-tree" communication

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Daşdemir J. , Loria A.

51st IEEE Annual Conference on Decision and Control (CDC), Hawaii, United States Of America, 10 - 13 December 2012, pp.1796-1801 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/cdc.2012.6426173
  • City: Hawaii
  • Country: United States Of America
  • Page Numbers: pp.1796-1801


We solve the formation-tracking control problem for mobile robots via linear control. As in the classical tracking control problem for two nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely. Only one "leader" robot communicates with the reference vehicle and in turn, acts as a leader to a second robot hence forming a fixed spanning tree. We show that a simple condition on the reference angular velocity (persistency of excitation) suffices to achieve consensus tracking.