Lateral and Longitudinal Stability for Decentralized Formation Control

  • David J. Naffin
  • Mehmet Akar
  • Gaurav S. Sukhatme


This paper analyzes the stability properties of a decentralized hybrid control system for maintaining formations. Utilizing only local sensing, the system assembles strings or “platoons” of robots that has each robot maintaining a fixed bearing to its nearest neighbor. Using these platoons, the system is able to construct more complicated geometries. A piecewise linear controller based on bidirectional controller design is utilized to ensure the stability of the system. The system is demonstrated in simulation as well as on a physical set on non-holonomic mobile robots.


Mobile Robot Fixed Bearing Physical Robot Nonholonomic Mobile Robot Follower Robot 
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Copyright information

© Springer 2007

Authors and Affiliations

  • David J. Naffin
    • 1
  • Mehmet Akar
    • 2
  • Gaurav S. Sukhatme
    • 1
  1. 1.Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern CaliforniaLos Angeles
  2. 2.Communication Sciences Institute Department of Electrical EngineeringUniversity of Southern CaliforniaLos Angeles

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