@inproceedings{f6ccbf0822c447d4aedd6edf0d263ab4,
title = "Tunable formation realization for nonholonomic mobile robots using the stress matrix",
abstract = "In this paper, we investigate the formation control problem for a team of nonholonomic mobile robots, in which the overall formation shape needs to be adapted to the change in its surroundings. To cope with the limited accessibility to the desired formation pattern, as well as the inherent nonholonomic constraints, we propose a distributed controller by invoking the stress-matrix-based technique, which gives extra freedom in controlling formations. Theoretical analysis is provided in the context of Lyapunov stability to show that tunable formations can be achieved using our proposed control strategy. Besides, it is also proved that collision avoidance can be ensured in the process of formation deformation. Simulations are carried out to validate the theoretical results.",
keywords = "Formation Control, Multi-agent Systems, Nonholonomic Mobile Robots, Stress Matrix",
author = "Qingkai Yang and Hao Fang and Ming Cao and Chengsi Shang and Yue Wei",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8866459",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5853--5858",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "United States",
}