Leader–follower tracking control design for task-based missions
by Elzbieta Jarzebowska
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 9, No. 3/4, 2011

Abstract: The paper develops a control theoretic leader-to-follower framework for performing task-based missions. It enables tracking trajectories and other task-based motions. Its modular architecture enables switching between controllers for a leader and followers as well as changing followers based on a specified mission. The framework is based on the model reference tracking control strategy for programmed motion. Initially, the strategy is developed for a single mobile robot. Its modular structure enables its extension to collaborating robots.

Online publication date: Fri, 10-Apr-2015

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