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• W2020769969 abstract "In this paper an adaptive formation control for nonholonomic mobile robots with unknown dynamic parameters is proposed. The control scheme is based on a saturated artificial potential function which allows a decentralized formation control design including collision avoidance. For each agent, a cascaded control strategy combines an adaptive motion controller which takes into account its uncertain nonlinear dynamic, and a kinematic control, leading to an overall globally stable adaptive system. The proposed control strategy is a velocity free scheme, where the control law only depends on the neighbors position information." @default.
• W2020769969 created "2016-06-24" @default.
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• W2020769969 date "2010-06-01" @default.
• W2020769969 modified "2023-10-17" @default.
• W2020769969 title "Adaptive formation control of dynamic nonholonomic systems using potential functions" @default.
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• W2020769969 doi "https://doi.org/10.1109/acc.2010.5530619" @default.
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