@inproceedings{cfaa79e848664a9398a018c9eed08b1d,
title = "Formation control of nonholonomic mobile robots using graph theoretical methods",
abstract = "In this chapter, formation control of mobile robots with nonlinear models is considered. Two controllers are proposed with the aid of the dynamic feedback linearization technique, the time-scaling technique and properties of Laplacian matrix. The proposed controllers ensure the group of mobile robots to move in a desired formation. Existing results in formation control using graph theoretical methods are extended to nonlinear systems of high dimensions. Simulation results show the effectiveness of the proposed controllers.",
author = "Wenjie Dong and Yi Guo",
year = "2007",
doi = "10.1007/978-3-540-48271-0_22",
language = "English",
isbn = "9783540482703",
series = "Lecture Notes in Economics and Mathematical Systems",
pages = "369--386",
editor = "Don Grundel and Panos Pardalos and Robert Murphey and Oleg Prokopyev",
booktitle = "Cooperative Systems",
}