@inproceedings{889069f2c18c41f1a04cc77f2d544a17,
title = "Formation control design for multi-robot system with obstacle avoidance",
abstract = "This paper focuses on the cooperative formation control of ground multi-robot system with obstacles surroundings. Each robot is modeled by Euler-Lagrange dynamics with unknown disturbance in 2D space. An auxiliary error variable based adaptive cooperative controller is designed for each robot such that all robots ultimately achieve desired formation in finite time, while maintaining obstacle avoidance. The stabilities of finite time control and the formation performance are analyzed by the according Lyapunov functions. Finally, simulation examples demonstrate the effectiveness of the algorithm.",
keywords = "Euler-Lagrange, Multi-robot system, finite time, formation control, obstacle avoidance",
author = "Jie Huang and Lihua Dou and Hao Fang and Yue Wei",
note = "Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",
year = "2014",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2014.6896435",
language = "English",
series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
publisher = "IEEE Computer Society",
pages = "8547--8552",
editor = "Shengyuan Xu and Qianchuan Zhao",
booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
address = "United States",
}