The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper proposes a formation controller for multi-agent systems focusing on the obstacle avoidance and input constraints. In our proposed method, the limitation of translation and angular velocities is adaptably tuned depending on the existence of obstacles, such that the velocities can increase when the robots potentially hit obstacles. Moreover, a potential function of the input velocities that...