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贾永楠等:多机器人编队控制研究进展 ·899· multiple vision-based autonomous robotic fish/Proceedings of the [28]Fax JA,Murry R M.Information flow and cooperative control of 48h IEEE Conference on Decision and Control CDC)held jointly vehicle formations.IEEE Trans Autom Control,49(9):1465 with 2009 28th Chinese Control Conference.Shanghai,2009:579 [29]Wen G H,Duan Z S,Ren W,et al.Distributed consensus of [9]Jia Y N,Wang L.Leader-follower flocking of multiple robotic multi-agent systems with general linear node dynamics through in- fish.IEEE/ASME Trans Mechatronics,2015,20(3):1372 termittent communications.Int J Robust and Nonlinear Control, [10]Vidal R,Shakernia 0,Sastry S.Formation control of non-holo- 2014,24(16):2438 nomic mobile robots with omnidirectional visual servoing and mo- [30]Oh KK,Ahn H S.Formation control of mobile agents based on tion segmentation//Proceedings of IEEE International Conference inter-agent distance dynamics.Automatica,2011,47 (10): on Robotics and Automation.Taipei,2003:584 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Shanghai, 2009: 579 [9] Jia Y N, Wang L. Leader鄄follower flocking of multiple robotic fish. IEEE/ ASME Trans Mechatronics, 2015, 20(3): 1372 [10] Vidal R, Shakernia O, Sastry S. Formation control of non鄄holo鄄 nomic mobile robots with omnidirectional visual servoing and mo鄄 tion segmentation / / Proceedings of IEEE International Conference on Robotics and Automation. Taipei, 2003: 584 [11] Cai Z S, Zhao J, Cao J. Formation control and obstacle avoid鄄 ance for multiple robots subject to wheel鄄slip. Int J Adv Rob Syst, 2012, 9(5): 188 [12] Nascimento T P, Conceicao A G S, Moreira A P. Multi鄄robot systems formation control with obstacle avoidance / / Proceedings of the 19th World Congress The International Federation of Auto鄄 matic Control. Cape Town, 2014: 5703 [13] Peng Z X, Yang S C, Wen G G, et al. Adaptive distributed for鄄 mation control for multiple non鄄holonomic wheeled mobile robots. Neurocomputing, 2016, 173: 1485 [14] Angeli D, Bliman P A. Stability of leaderless discrete鄄time multi鄄 agent systems. Math Control Sign Syst, 2006, 18(4): 293 [15] Chu T G, Wang L, Chen T W. Self鄄organized motion in aniso鄄 tropic swarms. J Control Theory Appl, 2003, 1(1): 77 [16] Olfati鄄Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time鄄delays. IEEE Trans Au鄄 tom Control, 2004, 49(9): 1520 [17] Olfati鄄Saber R. Flocking for multi鄄agent dynamic systems: algo鄄 rithms and theory. IEEE Trans Autom Control, 2006, 51 (3 ): 401 [18] Ren W, Beard R W, Atkins E M. Information consensus in mul鄄 tivehicle cooperative control. IEEE Control Syst, 2007, 27(2): 71 [19] Vicsek T. A question of scale. Nature, 2001, 411(6836): 421 [20] Gazi V, Passino K M. Stability analysis of swarms. IEEE Trans Autom Control, 2003, 48(4): 692 [21] Cucker F, Smale S. Emergent behavior in flocks. IEEE Trans Autom Control, 2007, 52(5): 852 [22] Reynolds C W. Flocks, birds, and schools: a distributed behav鄄 ioral model. 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Distributed consensus of multi鄄agent systems with general linear node dynamics through in鄄 termittent communications. Int J Robust and Nonlinear Control, 2014, 24(16): 2438 [30] Oh K K, Ahn H S. Formation control of mobile agents based on inter鄄agent distance dynamics. Automatica, 2011, 47 ( 10 ): 2306 [31] Jia Y N, Wang L. Decentralized formation flocking for multiple non鄄holonomic agents / / IEEE Conference on Cybernetics and In鄄 telligent Systems (CIS). Manila, 2013: 100 [32] Oh K K, Ahn H S. Formation control of mobile agents based on distributed position estimation. IEEE Trans Autom Control, 2013, 58(3): 737 [33 ] Anderson B D O, Yu C B. Range鄄only sensing for formation shape control and easy sensor network localization / / Proceedings of the 2011 Chinese Control and Decision Conference. Mianyang, 2011: 3310 [34] Eren T. Formation shape control based on bearing rigidity. Int J Control, 2012, 85(9): 1361 [35] Li Z K, Ren W, Liu X D, et al. Distributed containment control of multi鄄agent systems with general linear dynamics in the pres鄄 ence of multiple leaders. Int J Robust Nonlinear Control, 2013, 23(5): 534 [36] Marshall J A, Broucke M E, Francis B A. Formations of vehicles in cyclic pursuit. IEEE Trans Autom Control, 2004, 49 (11 ): 1963 [37] Montijano E, Cristofalo E, Zhou D J, et al. Vision鄄based distrib鄄 uted formation control without an external positioning system. IEEE Trans Rob, 2016, 32(2): 339 [38] Wang H S, Guo D J, Liang X W, et al. Adaptive vision鄄based leader鄄follower formation control of mobile robots. IEEE Trans Ind Electron, 2017, 64(4): 2893 [39] Chen X H, Jia Y M. Adaptive leader鄄follower formation control of non鄄holonomic mobile robots using active vision. IET Control Theory Appl, 2015, 9(8): 1302 [40] Liang X W, Liu Y H, Wang H S, et al. Leader鄄following forma鄄 tion tracking control of mobile robots without direct position meas鄄 urements. IEEE Trans Autom Control, 2016, 61(12): 4131 [41] Moshtagh N, Michael N, Jadbabaie A, et al. Vision鄄based, dis鄄 tributed control laws for motion coordination of nonholonomic ro鄄 bots. IEEE Trans Rob, 2009, 25(4): 851 [42] Morozova N S. Formation control and obstacle avoidance for multi鄄agent systems with dynamic topology / / 2005 International Conference on Stability and Control Processes in Memory of V. I. Zubov (SCP). St. Petersburg, 2015: 580 [43] Poonawala H A, Satici A C, Eckert H, et al. Collision鄄free for鄄 mation control with decentralized connectivity preservation for nonholonomic鄄wheeled mobile robots. IEEE Trans Control Net鄄 work Syst, 2015, 2(2): 122 [44] Liu Z, Chen W D, Lu J G, et al. Formation control of mobile ro鄄 bots using distributed controller with sampled鄄data and communi鄄 ·899·
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