Formation tracking experiments for heterogeneous mobile robots

E. G. Hernandez-Martinez; E. D. Ferreira-Vazquez; G. Fernandez-Anaya; P. Paniagua-Contro; J. J. Flores-Godoy

doi:10.1109/URUCON.2017.8171867

Formation tracking experiments for heterogeneous mobile robots

E. G. Hernandez-Martinez
, E. D. Ferreira-Vazquez
, G. Fernandez-Anaya
, P. Paniagua-Contro
, J. J. Flores-Godoy

Universidad Iberoamericana

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2017 IEEE URUCON, URUCON 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-4
Number of pages	4
ISBN (Electronic)	9781538633977
DOIs	https://doi.org/10.1109/URUCON.2017.8171867
State	Published - 8 Dec 2017
Event	2017 IEEE URUCON, URUCON 2017 - Montevideo, Uruguay Duration: 23 Oct 2017 → 25 Oct 2017

Publication series

Name	2017 IEEE URUCON, URUCON 2017
Volume	2017-December

Conference

Conference	2017 IEEE URUCON, URUCON 2017
Country/Territory	Uruguay
City	Montevideo
Period	23/10/17 → 25/10/17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Access to Document

10.1109/URUCON.2017.8171867

Cite this

Hernandez-Martinez, E. G., Ferreira-Vazquez, E. D., Fernandez-Anaya, G., Paniagua-Contro, P., & Flores-Godoy, J. J. (2017). Formation tracking experiments for heterogeneous mobile robots. In 2017 IEEE URUCON, URUCON 2017 (pp. 1-4). (2017 IEEE URUCON, URUCON 2017; Vol. 2017-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URUCON.2017.8171867

@inproceedings{395e7831488e4df0bcbb19a7ac3d6673,

title = "Formation tracking experiments for heterogeneous mobile robots",

abstract = "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.",

author = "Hernandez-Martinez, \{E. G.\} and Ferreira-Vazquez, \{E. D.\} and G. Fernandez-Anaya and P. Paniagua-Contro and Flores-Godoy, \{J. J.\}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE URUCON, URUCON 2017 ; Conference date: 23-10-2017 Through 25-10-2017",

year = "2017",

month = dec,

day = "8",

doi = "10.1109/URUCON.2017.8171867",

language = "Ingl{\'e}s",

series = "2017 IEEE URUCON, URUCON 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1--4",

booktitle = "2017 IEEE URUCON, URUCON 2017",

}

Hernandez-Martinez, EG, Ferreira-Vazquez, ED, Fernandez-Anaya, G, Paniagua-Contro, P & Flores-Godoy, JJ 2017, Formation tracking experiments for heterogeneous mobile robots. in 2017 IEEE URUCON, URUCON 2017. 2017 IEEE URUCON, URUCON 2017, vol. 2017-December, Institute of Electrical and Electronics Engineers Inc., pp. 1-4, 2017 IEEE URUCON, URUCON 2017, Montevideo, Uruguay, 23/10/17. https://doi.org/10.1109/URUCON.2017.8171867

Formation tracking experiments for heterogeneous mobile robots. / Hernandez-Martinez, E. G.; Ferreira-Vazquez, E. D.; Fernandez-Anaya, G. et al.
2017 IEEE URUCON, URUCON 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-4 (2017 IEEE URUCON, URUCON 2017; Vol. 2017-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

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 - https://www.scopus.com/pages/publications/85046942983

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 -

Formation tracking experiments for heterogeneous mobile robots

Abstract

Publication series

Conference

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this