Practical formation control of multiple underactuated ships with limited sensing ranges

2011 ◽  
Vol 59 (6) ◽  
pp. 457-471 ◽  
Author(s):  
K.D. Do
Keyword(s):  
Formation Control ◽  
Limited Sensing

scholarly journals Scalable formation control in stealth with limited sensing range

2016 ◽  
Vol 27 (3) ◽  
pp. 410-433 ◽  
Author(s):  
Hongjun Yu ◽  
Peng Shi ◽  
Cheng-Chew Lim
Keyword(s):  
Formation Control ◽  
Sensing Range ◽  
Limited Sensing

scholarly journals Bounded Controllers for Decentralized Formation Control of Mobile Robots with Limited Sensing

2007 ◽  
Vol 2 (4) ◽  
pp. 340 ◽  
Author(s):  
K.D. Do
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Potential Functions ◽  
Constructive Method ◽  
Minimum Value ◽  
Formation Tracking ◽  
General Potential ◽  
Limited Sensing

This paper presents a constructive method to design bounded cooperative controllers that force a group of N mobile robots with limited sensing ranges to stabilize at a desired location, and guarantee no collisions between the robots. The control development is based on new general potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision between any robots occurs. Smooth and p times differential jump functions are introduced and embedded into the potential functions to deal with the robot limited sensing ranges. Formation tracking is also considered.

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