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Consensus Based Formation Control and Trajectory Tracing of Multi-Agent Robot Systems

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Abstract

Multi-Agent Robot Systems (MARS) are, nowadays, an important research area within robotics and Artificial Intelligence. A growing number of systems have been presented in the literature recently. This paper develops a general method of controller design for formation keeping and motion trajectory tracing of the MARS. A novel motion model about the motion trajectory tracing and group formation control of MARS for fixed and changing interaction is presented. Based on this model and the consensus theory, two theorems about the condition of mobile stability properties of the system are analyzed and proved. Finally, the validity of this scheme is supported by computer simulation.

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Authors and Affiliations

  1. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, People’s Republic of China

    Zhengping Wu, Zhihong Guan, Xianyong Wu & Tao Li

Authors
  1. Zhengping Wu
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  2. Zhihong Guan
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  3. Xianyong Wu
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  4. Tao Li
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Corresponding author

Correspondence to Zhengping Wu.

Additional information

Supported by the National Natural Science Foundation of China under Grants 60573005 and 60603006.

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Wu, Z., Guan, Z., Wu, X. et al. Consensus Based Formation Control and Trajectory Tracing of Multi-Agent Robot Systems. J Intell Robot Syst 48, 397–410 (2007). https://doi.org/10.1007/s10846-006-9108-7

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  • DOI: https://doi.org/10.1007/s10846-006-9108-7

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