@inproceedings{95d3df8c6ab2492798715302750ffba6,
title = "Dynamic modeling and centralized formation control of mobile robots",
abstract = "The work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of the model is also performed. The resulting robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a centralized formation control. The controller can be applied both to positioning and to tracking desired robot formations. Experimental results validate the theoretical aspects.",
keywords = "Dynamic model, Formation control, Non-holonomic mobile robots, Nonlinear systems",
author = "{De La Cruz}, Celso and Ricardo Carelli",
year = "2006",
doi = "10.1109/IECON.2006.347299",
language = "English",
isbn = "1424401364",
series = "IECON Proceedings (Industrial Electronics Conference)",
pages = "3880--3885",
booktitle = "IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics",
note = "IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics ; Conference date: 06-11-2006 Through 10-11-2006",
}