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SUBMITTED -IEEE CONFERENCE ON DECISION AND CONTROL -2003 1 Robust Mobile Robotic Formation Control Using
 

Summary: SUBMITTED - IEEE CONFERENCE ON DECISION AND CONTROL - 2003 1
Robust Mobile Robotic Formation Control Using
Internet-Like Protocols
Rafael Sandoval-Rodriguez
,
Chaouki T. Abdallah
, Peter F. Hokayem
,
and Edl Schamiloglu.
Electrical & Computer Engineering Department
MSC01 1100
1 University of New Mexico
Albuquerque, NM 87131-0001
{rsandova,chaouki,hokayem,edl}@eece.unm.edu
Abstract
This work presents an Internet-Like Protocol (ILP) to coordinate the formation of n second-order agents in
a two dimensional (2D) space. The trajectories are specified trough via points and a desired formation at
each point. A basis for the proof of convergence is given using Lyapunov second method. Simulink is used
to verify the response of the agents in the desired trajectories. The proposed algorithms are robust in the
sense that they can accommodate changes in the formation of the agents and more importantly, changes in

  

Source: Abdallah, Chaouki T- Electrical and Computer Engineering Department, University of New Mexico

 

Collections: Engineering