List of English Publication

@article{nokey,

title = {Simultaneous distributed localization, mapping and formation control of mobile robots based on local relative measurements},

author = {Miao Guo and Bayu Jayawardhana and Jin Gyu Lee and Hyungbo Shim},

url = {https://www.sciencedirect.com/science/article/pii/S2405896320331426},

doi = {https://doi.org/10.1016/j.ifacol.2020.12.2454.},

issn = {2405-8963},

year  = {2020},

date = {2020-07-11},

journal = {IFAC-PapersOnLine},

volume = {53},

issue = {2},

pages = {9614-9620},

abstract = {This paper investigates the problem of localizing a team of robots in an indoor environment while simultaneously keeping a robust formation and performing group motion. A distributed observer is proposed to estimate the positions of mobile robots as well as the landmarks under a common global frame. Every robot uses its available local relative measurements, as well as the estimated relative measurements to its neighbors in order to keep a robust formation. Simultaneously, each robot estimates the positions of all the landmarks based on the available on-board relative measurements but also based on the estimated positions from its neighbors. We provide the L2-stability analysis of the closed-loop system where the group is also allowed to maneuver in the unknown environment. Simulation results are also given to show the efficacy of the method.},

keywords = {Distributed algorithm, Formation control, Multi-agent systems},

pubstate = {published},

tppubtype = {article}

}