Distributed Full-Consensus Control of Multi-Robot Systems with Range and Field-of-View Constraints
Esteban Restrepo Antonio Loría Ioannis Sarras Julien Marzat Esteban Restrepo Antonio Loría Ioannis Sarras Julien Marzat
In this paper we solve the full-consensus problem for multiple nonholonomic vehicles interacting over a directed leader-follower topology and subject to sensing constraints in the form of limited range and limited field-of-view. Remarkably, based on a polar-coordinates model transformation, the designed controller is time-invariant and smooth (in the domain of definition). Moreover, the control la...