Formation Maneuvers of Autonomous Mobile Robots - Dianwei Qian - Bog

In this book, the leader-follower formation is constructed based on relative motion states of nonholonomic mobile robots. The closed-loop control methods are presented in the sense of Lyapunov stability. The system stability is also presented in theory. Some numerical results are illustrated to support the control design. This book can be used for teaching a graduate-level special topic course in robotics.