我所柳向斌老师课题组完成的论文《Robust Consensus-Based Formation Control of Multi-Robot Systems with Guaranteed Safety》于2024-08在《IEEE Conference on Industrial Electronics and Applications (ICIEA)》正式发表。论文摘要如下：
Abstract: This paper studies the safe leader-following formation control for multiple wheeled-mobile-robots (WMRs) sub-jected to bounded external disturbances under directed communication topology. A consensus-based sliding-mode formation control law is combined with safety barrier certificates for obstacle avoidance and collision-free based on control barrier function (CBF) manipulated by quadratic programming(QP). The development method can realize stable leader-following formation control of multiple WMRs meanwhile guaranteeing collision/obstacle-avoidance. Finally, the proposed control scheme is verified through a numerical simulation.
引用信息：Xu Liu, Xiangbin Liu, Lang Zou, Jian Wang. Robust Consensus-Based Formation Control of Multi-Robot Systems with Guaranteed Safety. IEEE Conference on Industrial Electronics and Applications (ICIEA), 2024-08. DOI: 10.1109/iciea61579.2024.10664689