Please use this identifier to cite or link to this item:
|Title:||Multi-robot nonlinear model predictive formation control: Moving target and target absence|
António Paulo Moreira
|Abstract:||This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The team must also maintain a desired formation following a target while it is moving, or follow a leader in the case of target's absence. The structure details of the controller, as well as a mathematical analysis of the formation model used, are presented. Furthermore, results of simulations and experiments with real robots are presented and discussed.|
|Appears in Collections:||CRIIS - Other Publications|
Files in This Item:
|2.08 MB||Adobe PDF||View/Open Request a copy|
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.