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Title: Multi-robot nonlinear model predictive formation control: Moving target and target absence
Authors: Nascimento,TP
António Paulo Moreira
Scolari Conceicao,AGS
Issue Date: 2013
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.
metadata.dc.type: article
Appears in Collections:CRIIS - Other Publications

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