Robust Leader-Follower Formation Control for Human-Robot Scenarios.

Alia Gilbert Vishnu S. Chipade Dimitra Panagou

ACC

@inproceedings{DBLP:conf/amcc/GilbertCP22,
  author       = {Alia Gilbert and
                  Vishnu S. Chipade and
                  Dimitra Panagou},
  title        = {Robust Leader-Follower Formation Control for Human-Robot Scenarios},
  booktitle    = {American Control Conference, {ACC} 2022, Atlanta, GA, USA, June 8-10,
                  2022},
  pages        = {641--646},
  publisher    = {{IEEE}},
  year         = {2022},
  url          = {https://doi.org/10.23919/ACC53348.2022.9867709},
  doi          = {10.23919/ACC53348.2022.9867709},
  timestamp    = {Mon, 06 Nov 2023 12:57:51 +0100},
  biburl       = {https://dblp.org/rec/conf/amcc/GilbertCP22.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

Abstract

This paper presents a robust formation control problem for multiple robots surrounding a human leader in the presence of measurement uncertainties. Utilizing previous work on adaptive estimation and Lyapunov-like barrier functions, an architecture is designed for the formation control of follower robots around a human leader in the presence of uncertainties in the leader’s and follower robots’ state information. Convergence and safety of the follower robots is proved formally. The proposed architecture is demonstrated in simulations and experiments.

Authors

Dimitra Panagou

link /

Bib

@inproceedings{DBLP:conf/amcc/GilbertCP22,
  author       = {Alia Gilbert and
                  Vishnu S. Chipade and
                  Dimitra Panagou},
  title        = {Robust Leader-Follower Formation Control for Human-Robot Scenarios},
  booktitle    = {American Control Conference, {ACC} 2022, Atlanta, GA, USA, June 8-10,
                  2022},
  pages        = {641--646},
  publisher    = {{IEEE}},
  year         = {2022},
  url          = {https://doi.org/10.23919/ACC53348.2022.9867709},
  doi          = {10.23919/ACC53348.2022.9867709},
  timestamp    = {Mon, 06 Nov 2023 12:57:51 +0100},
  biburl       = {https://dblp.org/rec/conf/amcc/GilbertCP22.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}