@inproceedings{b998ad66ebdd49638284cd39c48de5aa,
title = "Leader-following distributed control of Multiple Nonholonomic Wheeled Mobile Robots",
abstract = "This paper considers leader-following distributed control for nonholonomic mobile agents. The mobile agents consist of a group of wheeled mobile robots with differential drive configurations. With the aid of graph theory, various inter-agent communication scenarios are studied ranging from weakly connected to strongly connected graph. The distributed control scheme defined per agent consists of two levels; one level defines the joint-level velocity control which uses a gradient-based adaptive law to compensate for mobile robot agent dynamics and a sliding-mode control; another level defines the upper level which is responsible for Cartesian control. The consensus algorithm which executes the leader-following protocol resides within the Cartesian control. Several network topologies have been studied by applying the proposed Cooperative Control scheme.",
author = "Xian, {Lee Zhi} and Muhammad Mahyuddin and Guido Herrmann",
year = "2016",
month = jan,
day = "5",
doi = "10.1109/TENCON.2015.7372993",
language = "English",
isbn = "9781479986415",
series = "Proceedings of the IEEE TENCON",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
pages = "1--6",
booktitle = "TENCON 2015 - 2015 IEEE Region 10 Conference",
address = "United States",
note = "35th IEEE Region 10 Conference, TENCON 2015 ; Conference date: 01-11-2015 Through 04-11-2015",
}