Predictive Control of Unmanned Formations

Martin Saska, Libor Přeučil

Abstract

A receding horizon control based approach for guiding of autonomous formations of nonholonomic robots in a leader-follower constellation is proposed in this paper. The presented method ensures dynamic obstacle avoidance, formation coordination as well as failure tolerance. The robustness of the algorithm is verified by numerical multi-robot experiments. Besides, effects of system’s parameters on the algorithm performance are investigated.

References

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Paper Citation


in Harvard Style

Saska M. and Přeučil L. (2012). Predictive Control of Unmanned Formations . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 403-406. DOI: 10.5220/0003994404030406


in Bibtex Style

@conference{icinco12,
author={Martin Saska and Libor Přeučil},
title={Predictive Control of Unmanned Formations},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={403-406},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003994404030406},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Predictive Control of Unmanned Formations
SN - 978-989-8565-22-8
AU - Saska M.
AU - Přeučil L.
PY - 2012
SP - 403
EP - 406
DO - 10.5220/0003994404030406