Output feedback formation tracking control of mobile robots with limited sensing

This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. For each robot an interlaced observer is designed to estimate the robot unmeasured velocities. p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system.