Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
412644 | Robotics and Autonomous Systems | 2010 | 14 Pages |
Abstract
In this paper, control algorithms are presented for formation keeping and path following for non-holonomic platforms. The controls are based on feedback from onboard directional range sensors, and a switching Kalman filter is introduced for active sensing. Stability is analyzed theoretically and robustness is demonstrated in experiments and simulations.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
M. Karasalo, X. Hu,