Stabilizing leader-follower formations with adaptive control laws.
Adaptive control laws stabilize leader-follower formations under disturbances.
Decentralized control using bispherical coordinates ensures global shape convergence in 3D formation.
Developing a distributed formation control method for mobile robots to address challenges and enhance performance.
This paper proposes a novel estimator-based control framework for achieving safe and stable formation control of non-holonomic mobile robots in environments without inter-robot communication, addressing challenges of collision avoidance and disturbance attenuation using control barrier functions and string stability metrics.