Formation control of unicycle robots using the virtual structure approach
Anna D. Sadowska, H.J.C. Huijberts, Dragan Kostić, Nathan van de Wouw, Henk Nijmeijer · 2011
This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error variables to the origin and illustrate the behavior of a group of robots under the formation control algorithm in simulations and experiments.