@article{9f472ccab52c4f6cbc42356d5b516324,
title = "Distributed formation control of nonholonomic mobile robots without global position measurements",
abstract = "This paper proposes a new class of distributed nonlinear controllers for leader-following formation control of unicycle robots without global position measurements. Nonlinear small-gain design methods are used to deal with the problem caused by the nonholonomic constraint of the unicycle robot and yield simple conditions for practical implementation. With the proposed distributed controllers, the formation control objective can be achieved without assuming any tree sensing structures. More interestingly, the distributed controller is robust to position measurement errors and the linear velocities of the robots can be restricted to specific bounded ranges.",
keywords = "Distributed nonlinear control, Formation control, Input-to-output stability (IOS), Mobile robots, Small-gain",
author = "Tengfei Liu and Jiang, {Zhong Ping}",
note = "Funding Information: An IEEE Fellow, Dr. Jiang is a Subject Editor for the International Journal of Robust and Nonlinear Control and has served as an Associate Editor for several journals including Mathematics of Control, Signals and Systems (MCSS), Systems & Control Letters, IEEE Transactions on Automatic Control, European Journal of Control and J. Control Theory and Applications . Dr. Jiang is a recipient of the prestigious Queen Elizabeth II Fellowship Award from the Australian Research Council, the CAREER Award from the US National Science Foundation, and the Young Investigator Award from the NSF of China. He received the Best Theory Paper Award (with Y. Wang) at the 2008 World Congress on Intelligent Control and Automation , and with T. Liu and D.J. Hill, the Guan Zhao Zhi Best Paper Award at the 2011 Chinese Control Conference.",
year = "2013",
month = feb,
doi = "10.1016/j.automatica.2012.11.031",
language = "English (US)",
volume = "49",
pages = "592--600",
journal = "Automatica",
issn = "0005-1098",
publisher = "Elsevier Ltd",
number = "2",
}