Constraint-oriented formation control of multi-robot system in leaderless consensus under confined conditions

In this paper, constraint-oriented coordination control of a first-order multi-robot system has been considered in a leaderless consensus where rectangular velocity components of participating robots are subject to constraints while also avoiding inter-robots collisions. The desired formation contro...

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Bibliographic Details

Published in:	Systems Science & Control Engineering
Main Authors:	Faheem Gulzar, Noor Muhammad Khan, Yasir Awais Butt, Aamer Iqbal Bhatti
Format:	Article
Language:	English
Published:	Taylor & Francis Group 2024-12-01
Subjects:	Multi-robot system formation control velocity constraints inter-robots collision avoidance control barrier function Control Barrier Function (CBF)
Online Access:	https://www.tandfonline.com/doi/10.1080/21642583.2024.2436666