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Authors: Tiago Pereira do Nascimento 1 ; Fernando A. Fontes 1 ; António Paulo Moreira 1 and André Gustavo Scolari Conceição 2

Affiliations: 1 University of Porto, Portugal ; 2 Federal University from Bahia, Brazil

Keyword(s): Formation control, Nonlinear model predictive controller, Mobile robots, Omnidirectional mobile robots.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper describes a novel approach in formation control for mobile robots. Here, a Nonlinear Model Predictive Controller (NMPC) is used to maintain the formation of three omnidirectional mobile robots. The details of the controller structure are presented as well as its functionality in a soccer robot team. Three Middle Size League Robots are used for evaluation. A case of study based in a soccer robot situation is presented, developed, and implemented to evaluate the performance of the controller. Simulations results are presented and discussed.

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Paper citation in several formats:
Pereira do Nascimento, T.; A. Fontes, F.; Paulo Moreira, A. and Gustavo Scolari Conceição, A. (2011). LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem. In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 135-144. DOI: 10.5220/0003453701350144

@conference{icinco11,
author={Tiago {Pereira do Nascimento}. and Fernando {A. Fontes}. and António {Paulo Moreira}. and André {Gustavo Scolari Concei\c{C}ão}.},
title={LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2011},
pages={135-144},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003453701350144},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem
SN - 978-989-8425-75-1
IS - 2184-2809
AU - Pereira do Nascimento, T.
AU - A. Fontes, F.
AU - Paulo Moreira, A.
AU - Gustavo Scolari Conceição, A.
PY - 2011
SP - 135
EP - 144
DO - 10.5220/0003453701350144
PB - SciTePress

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