@inproceedings{faafd6b15cd144a2bbf1865f129658aa,
title = "Decentralized formation control of multi vehicles systems with non-holonomic constraints using artif",
abstract = "In this work, decentralized formation control of a multi vehicle system is investigated. Each vehicle model considers kinematic constraints of differential drives which is a principal approach for various application for mobile robotics in 2D space. A virtual leader is assigned to navigate the whole cluster in a certain formation via predefined paths. Each vehicle produces its own control signal via communication with other vehicles and interactions with virtual leader and the obstacles around. These interactions and communications are modeled with artificial potential fields. Also formation shape is given as global minimums of artificial potentials between vehicles. The proposed system can successfully form any shape and navigate even in the presence of unknown obstacles. Simulations of flocking and formation navigation with kinematics constraints are presented.",
keywords = "Guidance navigation and control, Networked robotic system modelling and control, Robotics technology",
author = "Sisli, \{Ufuk Yetis\} and Hakan Temeltas",
year = "2008",
doi = "10.3182/20080706-5-KR-1001.2478",
language = "English",
isbn = "9783902661005",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
number = "1 PART 1",
booktitle = "Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC",
edition = "1 PART 1",
note = "17th World Congress, International Federation of Automatic Control, IFAC ; Conference date: 06-07-2008 Through 11-07-2008",
}