@inproceedings{58d48dff06f844f3ab218622c7c8ea4e,
title = "Virtual Leader Based Formation Control of Multiple Unmanned Ground Vehicles (UGVs): Control Design, Simulation and Real-Time Experiment",
abstract = "Closed formation control for multiple unmanned ground vehicles (UGVs) is studied in this chapter. The leading-following strategy with a virtual leader is applied to coordinate the whole formation group so that only local information is sufficient for every UGV to maintain close formation. Error-shaping memory-based control is designed for formation path tracking. The salient feature of this approach lies in its simplicity in design and implementation, and no need for detailed information on external disturbances and uncertainties. The performance of the proposed method is verified via real-time experiment on various formation operations. {\textcopyright} 2007 Springer-Verlag Berlin Heidelberg.",
keywords = "Formation control, Leader-follower strategy, Memory-based control, Real-time experiment",
author = "Wenchuan CAI and Liguo WENG and R. ZHANG and M. ZHANG and SONG, \{Y. D.\}",
year = "2007",
month = oct,
day = "31",
doi = "10.1007/978-3-540-74356-9\_14",
language = "English",
isbn = "9783540743545",
series = "Lecture Notes in Control and Information Sciences",
publisher = "Springer Berlin Heidelberg",
pages = "221--230",
editor = "PARDALOS, \{Panos M.\} and Robert MURPHEY and Don GRUNDEL and HIRSCH, \{Michael J.\}",
booktitle = "Advances in Cooperative Control and Optimization: Proceedings of the 7th International Conference on Cooperative Control and Optimization",
note = "7th International Conference on Cooperative Control and Optimization ; Conference date: 31-01-2007 Through 02-02-2007",
}