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Switching control for robust autonomous robot and vehicle platoon formation maintenance

Fidan, Baris; Anderson, Brian

Description

In this paper, we analyze the problem of acquiringand maintaining desired inter-agent distances for non-hierarchical autonomous multi-agent platoons (1-dimensional formations), where the agents can be autonomous robots or vehicles, using only agent-wise relative position measurements. In our analysis, we consider the existence of measurement noises, which may cause the failure of controllers ignoring these noises in keeping the positions of the agents bounded. We design a switching control...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
URI: http://hdl.handle.net/1885/26491
Source: Proceedings of Mediterranean Conference on Control and Automation 2008
DOI: 10.1109/MED.2007.4433676

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