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IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications (DIS'06)
Robotic Formation Control using Variable Structure Systems Approach
Prague, Czech Republic
June 15-June 16
ISBN: 0-7695-2589-X
ASCII Text
x 
 
Q.P. Ha, G. Dissanayake, "Robotic Formation Control using Variable Structure Systems Approach," Distributed Intelligent Systems: Collective Intelligence and Its Applications, IEEE Workshop on, pp. 37-42, IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications (DIS'06), 2006.
 
 
BibTex
x
 
@article{ 10.1109/DIS.2006.64,
author = {Q.P. Ha and G. Dissanayake},
title = {Robotic Formation Control using Variable Structure Systems Approach},
journal ={Distributed Intelligent Systems: Collective Intelligence and Its Applications, IEEE Workshop on},
volume = {0},
year = {2006},
isbn = {0-7695-2589-X},
pages = {37-42},
doi = {http://doi.ieeecomputersociety.org/10.1109/DIS.2006.64},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Distributed Intelligent Systems: Collective Intelligence and Its Applications, IEEE Workshop on
TI - Robotic Formation Control using Variable Structure Systems Approach
SN - 0-7695-2589-X
SP37
EP42
A1 - Q.P. Ha,
A1 - G. Dissanayake,
PY - 2006
KW - null
VL - 0
JA - Distributed Intelligent Systems: Collective Intelligence and Its Applications, IEEE Workshop on
ER -
 
Q.P. Ha, University of Technology, Sydney
G. Dissanayake, University of Technology, Sydney
This paper addresses robust control of multiple mobile robots moving in desired formations. A rigorous control technique for such an agent-based robotic system may encounter problems of singularity, parameter sensitivity and inter-robot collision. Our proposed framework focuses on the enhancement of robustness as well as collision-free establishment of formations even in the case of singularity and uncertainties in sensing information of the reference coordinates by using variable structure controllers incorporated with a reactive control scheme. Advantages of the approach are verified in simulation of three robots moving in a line, a column and a wedge.
Citation:
Q.P. Ha, G. Dissanayake, "Robotic Formation Control using Variable Structure Systems Approach," dis, pp.37-42, IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications (DIS'06), 2006
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