TY - GEN
T1 - Formation tracking experiments for heterogeneous mobile robots
AU - Hernandez-Martinez, E. G.
AU - Ferreira-Vazquez, E. D.
AU - Fernandez-Anaya, G.
AU - Paniagua-Contro, P.
AU - Flores-Godoy, J. J.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/8
Y1 - 2017/12/8
N2 - This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment is presented using a virtual quadcopter, three omnidirectional wheeled-mobile robots and a motion capture system.
AB - This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment is presented using a virtual quadcopter, three omnidirectional wheeled-mobile robots and a motion capture system.
UR - http://www.scopus.com/inward/record.url?scp=85046942983&partnerID=8YFLogxK
U2 - 10.1109/URUCON.2017.8171867
DO - 10.1109/URUCON.2017.8171867
M3 - Contribución a la conferencia
AN - SCOPUS:85046942983
T3 - 2017 IEEE URUCON, URUCON 2017
SP - 1
EP - 4
BT - 2017 IEEE URUCON, URUCON 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE URUCON, URUCON 2017
Y2 - 23 October 2017 through 25 October 2017
ER -
