Paper Info
Title
Decentralized Formation Tracking for Groups of Mobile Robots with Consensus and MPC
Abstract
Moving in formation while tracking a reference trajectory is a common task for groups of mobile robots. In this work, we propose a solution which also deals with collision avoidance and communication topology preservation using Model Predictive Control (MPC) and the concept of virtual structure in a decentralized manner. We present results of simulations, a comparison with another method from the literature, and the results of a virtual reality experiment using differential robots.
Year
DOI
Venue
2015
10.1016/j.ifacol.2015.12.045
IFAC-PapersOnLine
Keywords
DocType
Volume
Multi cooperative robot control,mobile robots and vehicles,networked robots
Conference
48
Issue
ISSN
Citations 
19
2405-8963
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Filipe Lopes de Barros Correia100.68
U. F. Moreno2204.23