Title:
Persistent Formation Control for Multi-Robot Networks

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Smith, Brian Stephen
Wang, Jiuguang
Egerstedt, Magnus B.
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Abstract
This paper presents a method for controlling formations of mobile robots. In particular, the problem of maintaining so-called "persistent formations" while moving the formation from one location to another is defined and investigated. A method for accomplishing such persistent formation motions is presented, and the method is demonstrated in simulation and with a prototype network of robots.
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2008-12
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