Momentum eigenfunctions in the complex momentum plane. IV. The construction of local potential functions. Perturbation series

1981 ◽  
Vol 74 (2) ◽  
pp. 1225-1238 ◽  
Author(s):  
Edwin N. Lassettre
Keyword(s):  
Perturbation Series ◽  
Potential Functions ◽  
Local Potential ◽  
Momentum Plane

scholarly journals Formation Control of Mobile Robots

2006 ◽  
Vol 1 (3) ◽  
pp. 41 ◽  
Author(s):  
Dang Binh Nguyen ◽  
Khac Duc Do
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Potential Functions ◽  
Local Potential ◽  
Constructive Method ◽  
Nonholonomic Mobile Robots ◽  
Minimum Value

A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. The proposed controller development is also extended to formation control of nonholonomic mobile robots.

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