@inproceedings{d8e24665c7dd4281a64fd3adf50d976d,
title = "Null-Space-Based Controller for Heterogeneous Robot Formation in Congested Environments",
abstract = "This paper describes a control proposal aimed at the formation of heterogeneous robots in environments with several obstacles. The formation of robots is composed of mobile robots with differential traction and a quadcopter, the dynamic model of each robot is used. The proposed controller is a cascade control scheme where the external loop contains a null-space-based control for path tracking and obstacle avoidance, and the internal controller is a dynamic PID type controller for speed tracking of each robot. The proposed control allows to have 2 tasks: i) form control and ii) posture control. Additionally, an obstacle avoidance strategy based on potential fictitious fields has been implemented. Obstacle avoidance can be located within one of the control tasks. The stability of the controllers is analyzed based on Lyapunov, and simulation tests are presented to verify the good performance of the proposed controllers.",
keywords = "Null space, heterogeneous formation, mobile robot, obstacle avoidance, potential fields, quadcopter",
author = "Paulo Leica and Bryan Sagnay and Fabian Poveda and Oscar Camacho",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th International Conference on Information Systems and Computer Science, INCISCOS 2019 ; Conference date: 20-11-2019 Through 22-11-2019",
year = "2019",
month = nov,
day = "1",
doi = "10.1109/INCISCOS49368.2019.00045",
language = "Ingl{\'e}s",
series = "Proceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "238--243",
booktitle = "Proceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019",
}