dc.creator | Nascimento, Tiago Pereira do | |
dc.creator | Moreira, António Paulo | |
dc.creator | Conceição, André G. Scolari | |
dc.creator | Nascimento, Tiago Pereira do | |
dc.creator | Moreira, António Paulo | |
dc.creator | Conceição, André G. Scolari | |
dc.date.accessioned | 2022-10-07T19:17:53Z | |
dc.date.available | 2022-10-07T19:17:53Z | |
dc.date.issued | 2013 | |
dc.identifier | 0921-8890 | |
dc.identifier | http://repositorio.ufba.br/ri/handle/ri/15233 | |
dc.identifier | v. 61 | |
dc.identifier.uri | http://repositorioslatinoamericanos.uchile.cl/handle/2250/4013340 | |
dc.description.abstract | This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The team must also maintain a desired formation following a target while it is moving, or follow a leader in the case of target’s absence. The structure details of the controller, as well as a mathematical analysis of the formation model used, are presented. Furthermore, results of simulations and experiments with real robots are presented and discussed. | |
dc.language | en | |
dc.rights | Acesso Aberto | |
dc.source | http://dx.doi.org/10.1016/j.robot.2013.07.005 | |
dc.subject | Multi-robot system | |
dc.subject | Robot control | |
dc.subject | Mobile robotics | |
dc.title | Multi-robot nonlinear model predictive formation control: moving target and target absence | |
dc.type | Artigo de Periódico | |