LEWIS M A, TAN K H. High precision formation control of mobile robots using virtual structure approach[J]. Autonomous Robots, 1997, 4: 387-403.
[2]
LEONARD N E, FIORELLI E. Virtual leader, artificial potentials and coordinated control of groups[C]//Proceedings of IEEE Conference on Decision and Control. Orlando, USA, 2001: 2968-2973.
[3]
LAWTON A R, YOUNG B J, BEARD R W. A decentralized approach to elementary formation maneuvers[C]//IEEE International Conference on Robotics and Automation. San Francisco, USA, 2000: 2728-2733.
[4]
LAWTON J R, BEARD R W, YOUNG B J. A decentralized approach to formation maneuvers[J]. IEEE Transactions on Robotics and Automation, 2003, 19(6): 933-941.
[5]
REN W, SORENSEN N. Distributed coordination architecture for multi-robot formation control [J]. Robotics and Autonomous Systems, 2008, 56(4): 324-333.
[6]
REN W, BEARD R W. Decentralized scheme for spacecraft formation flying via the virtual structure approach[J]. Journal of Guidance, Control and Dynamics, 2004, 27(1): 73-82.
[7]
XIANG X B, GUAN Z H. Coordinated control for multi-AUV systems based on hybrid automata[C]//Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics. Sanya, China, 2007: 2121-2126.
[8]
TANGIRALA S, KUMAR R, BHATTACHARYYA S, et al. Hybrid-model based hierarchical mission control architecture for autonomous underwater vehicles[C]//American Control Conference. Portland, USA, 2005: 668-673.
[9]
YANG E F, GU D B. Nonlinear formation-keeping and mooring control of multiple autonomous underwater vehicles[J]. IEEE/ASME Transactions on Mechatronics, 2007, 2(2): 164-178.
[10]
KALANTAR S, ZIMMER U R. Distributed shape control of homogeneous swarms of autonomous underwater vehicles[J]. Autonomous Robots, 2007, 22(1): 37-53.