Bearing-based localization for leader-follower formation control

The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmar...

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Detalles Bibliográficos
Autores principales: Han, Qing, Ren, Shan, Lang, Hao, Zhang, Changliang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2017
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5398525/
https://www.ncbi.nlm.nih.gov/pubmed/28426706
http://dx.doi.org/10.1371/journal.pone.0175378
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author Han, Qing
Ren, Shan
Lang, Hao
Zhang, Changliang
author_facet Han, Qing
Ren, Shan
Lang, Hao
Zhang, Changliang
author_sort Han, Qing
collection PubMed
description The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a formation based on the bearing-only information that the follower robots observe from the leader robot. Finally, simulations confirm the effectiveness of the proposed formation control.
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spelling pubmed-53985252017-05-04 Bearing-based localization for leader-follower formation control Han, Qing Ren, Shan Lang, Hao Zhang, Changliang PLoS One Research Article The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a formation based on the bearing-only information that the follower robots observe from the leader robot. Finally, simulations confirm the effectiveness of the proposed formation control. Public Library of Science 2017-04-20 /pmc/articles/PMC5398525/ /pubmed/28426706 http://dx.doi.org/10.1371/journal.pone.0175378 Text en © 2017 Han et al http://creativecommons.org/licenses/by/4.0/ This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) , which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
spellingShingle Research Article
Han, Qing
Ren, Shan
Lang, Hao
Zhang, Changliang
Bearing-based localization for leader-follower formation control
title Bearing-based localization for leader-follower formation control
title_full Bearing-based localization for leader-follower formation control
title_fullStr Bearing-based localization for leader-follower formation control
title_full_unstemmed Bearing-based localization for leader-follower formation control
title_short Bearing-based localization for leader-follower formation control
title_sort bearing-based localization for leader-follower formation control
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5398525/
https://www.ncbi.nlm.nih.gov/pubmed/28426706
http://dx.doi.org/10.1371/journal.pone.0175378
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AT renshan bearingbasedlocalizationforleaderfollowerformationcontrol
AT langhao bearingbasedlocalizationforleaderfollowerformationcontrol
AT zhangchangliang bearingbasedlocalizationforleaderfollowerformationcontrol

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