Angle-Constrained Formation Control for Circular Mobile Robots

Nelson Chan*, Bayu Jayawardhana, Hector Garcia de Marina Peinado

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

5 Citations (Scopus)
72 Downloads (Pure)


In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots’ disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular shape.
Original languageEnglish
Pages (from-to)109-114
Number of pages6
JournalIEEE Control Systems Letters
Issue number1
Publication statusPublished - Jan-2021
Event59th IEEE Conference on Decision and Control - Jeju Island, Jeju Island, Korea, Republic of
Duration: 14-Dec-202018-Dec-2020

Cite this