TY - GEN
T1 - Switching control for robust autonomous robot and vehicle platoon formation maintenance
AU - Fidan, Bariş
AU - Anderson, Brian D.O.
PY - 2007
Y1 - 2007
N2 - In this paper, we analyze the problem of acquiringand maintaining desired inter-agent distances for non-hierarchical autonomous multi-agent platoons (1-dimensional formations), where the agents can be autonomous robots or vehicles, using only agent-wise relative position measurements. In our analysis, we consider the existence of measurement noises, which may cause the failure of controllers ignoring these noises in keeping the positions of the agents bounded. We design a switching control scheme that addresses the above problem, i.e., that acquires and maintains the desired interagent distances while guaranteeing that the agent positions are kept bounded.
AB - In this paper, we analyze the problem of acquiringand maintaining desired inter-agent distances for non-hierarchical autonomous multi-agent platoons (1-dimensional formations), where the agents can be autonomous robots or vehicles, using only agent-wise relative position measurements. In our analysis, we consider the existence of measurement noises, which may cause the failure of controllers ignoring these noises in keeping the positions of the agents bounded. We design a switching control scheme that addresses the above problem, i.e., that acquires and maintains the desired interagent distances while guaranteeing that the agent positions are kept bounded.
UR - http://www.scopus.com/inward/record.url?scp=50249126710&partnerID=8YFLogxK
U2 - 10.1109/MED.2007.4433676
DO - 10.1109/MED.2007.4433676
M3 - Conference contribution
SN - 142441282X
SN - 9781424412822
T3 - 2007 Mediterranean Conference on Control and Automation, MED
BT - 2007 Mediterranean Conference on Control and Automation, MED
T2 - 2007 Mediterranean Conference on Control and Automation, MED
Y2 - 27 July 2007 through 29 July 2007
ER -