Constraint-oriented formation control of multi-robot system in leaderless consensus under confined conditions - Gulzar, Faheem; Khan, Noor Muhammad; Butt, Yasir Awais; Bhatti, Aamer Iqbal (Systems science & control engineering, 2024)
Keywords: Collision avoidance; Constraints; control barrier function; Control Barrier Function (CBF); Control systems; Controllers; Cost function; formation control; Graph theory; inter-robots collision avoidance; Multi-robot system; Multiple robots; Optimization; Quadratic Programme (QP); Robot control; Robots; Velocity; velocity constraints