Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed for asymptotically stabilizing the vehicles to a time-va...

Full description

Saved in:

Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) Vol. 55; no. 11; pp. 3944 - 3953
Main Authors:	Defoort, M., Floquet, T., Kokosy, A., Perruquetti, W.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.11.2008 The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers
Subjects:	Asymptotic properties Automatic Control Engineering Autonomous Computer Science Controllers Formation control Mobile robots Motion control Motion estimation Motion measurement nonholonomic mobile robots Remotely operated vehicles Robot control Robots robust control second-order sliding mode Sliding mode control Stabilization State estimation Strategy Vehicles Velocity control Velocity measurement Vision systems
ISSN:	0278-0046, 1557-9948
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Abstract	This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables formation stabilization using a vision system carried by the followers and ensures the collision avoidance from the initial time instance. Experimental investigation has been conducted using a test bench made of three nonholonomic mobile robots in order to demonstrate the effectiveness of the proposed strategy.
AbstractList	This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables formation stabilization using a vision system carried by the followers and ensures the collision avoidance from the initial time instance. Experimental investigation has been conducted using a test bench made of three nonholonomic mobile robots in order to demonstrate the effectiveness of the proposed strategy. This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed [abstract truncated by publisher].
Author	Kokosy, A. Floquet, T. Perruquetti, W. Defoort, M.
Author_xml	– sequence: 1 givenname: M. surname: Defoort fullname: Defoort, M. organization: Dept. of Syst. Design Eng., Keio Univ., Yokohama – sequence: 2 givenname: T. surname: Floquet fullname: Floquet, T. – sequence: 3 givenname: A. surname: Kokosy fullname: Kokosy, A. – sequence: 4 givenname: W. surname: Perruquetti fullname: Perruquetti, W.
BackLink	https://inria.hal.science/inria-00424437$$DView record in HAL
BookMark	eNqFkbtPHDEQxq0IpBwkfaQ0KwpSoIXx-rF2eTrxkg4hEVJbXp83GO15DnsPif8-Xo6koCCNxxr9vnl9B2QvYvSEfKNwSinos_vr89MGQE1P09L2E5lRIdpaa672yKzkVA3A5WdykPMjAOWCihm5_DmEVYi_6xtc-eoC09qOAWO1wDgmHKoeU_njxqeSf_bVfDtixDVuc3WDXRh8dYcdjvkL2e_tkP3Xt3hIfl2c3y-u6uXt5fVivqydaPRYO7dalYE0l4x1TLuus445JzV4yrvOu1YIxx1w3WnlhIKe8aZl3jpPZa8dOyQnu7oPdjCbFNY2vRi0wVzNlybEFKwpWzacs_aZFvrHjt4kfNr6PJp1yM4Pg42-rGA0MMmVYPq_pGoFsEbBRB5_SDLOJTAxNT96Bz7iNsVyHaNko2jLQBVI7iCXMOfke-PC-GrBmGwYDAUz2WuKvWay17zZW4TwTvj3Gh9Ivu8kwXv_Dy_TUi41-wP66bAr
CODEN	ITIED6
CitedBy_id	crossref_primary_10_1080_20464177_2016_1173268 crossref_primary_10_1002_rnc_5416 crossref_primary_10_1016_j_automatica_2018_10_045 crossref_primary_10_1049_iet_cta_2016_0952 crossref_primary_10_1109_TAC_2016_2547872 crossref_primary_10_1017_S0263574716000230 crossref_primary_10_1080_01691864_2017_1368413 crossref_primary_10_3390_math9182190 crossref_primary_10_1109_TIE_2009_2020077 crossref_primary_10_1109_TCST_2013_2262768 crossref_primary_10_1016_j_conengprac_2017_08_005 crossref_primary_10_1016_j_engappai_2025_111433 crossref_primary_10_1109_TIE_2012_2183831 crossref_primary_10_1007_s11071_019_05203_2 crossref_primary_10_1109_TFUZZ_2013_2260757 crossref_primary_10_1155_2013_862518 crossref_primary_10_1016_j_arcontrol_2017_09_017 crossref_primary_10_1109_TII_2011_2123907 crossref_primary_10_1007_s11633_010_0553_1 crossref_primary_10_1007_s12555_014_0249_3 crossref_primary_10_3390_jmse10111782 crossref_primary_10_1080_00207179_2021_2015541 crossref_primary_10_1007_s42835_025_02429_6 crossref_primary_10_1080_00207179_2019_1690692 crossref_primary_10_1109_TCYB_2020_3035260 crossref_primary_10_1109_TIE_2009_2023635 crossref_primary_10_1155_2013_919837 crossref_primary_10_3390_app13031874 crossref_primary_10_1017_S0263574716000102 crossref_primary_10_1109_TCNS_2021_3052308 crossref_primary_10_1080_02533839_2024_2308251 crossref_primary_10_1109_TMECH_2016_2580303 crossref_primary_10_1109_TIE_2009_2021178 crossref_primary_10_1109_TIE_2014_2365156 crossref_primary_10_1016_j_oceaneng_2017_12_037 crossref_primary_10_1109_TFUZZ_2020_2992864 crossref_primary_10_1016_j_isatra_2024_01_001 crossref_primary_10_1109_TIE_2011_2160140 crossref_primary_10_1016_j_amc_2022_126962 crossref_primary_10_1049_iet_cta_2013_0402 crossref_primary_10_1109_TMECH_2024_3401069 crossref_primary_10_1155_2017_1895897 crossref_primary_10_5402_2013_192487 crossref_primary_10_1002_rnc_7157 crossref_primary_10_1109_ACCESS_2018_2831912 crossref_primary_10_1002_rnc_6582 crossref_primary_10_1155_2014_807102 crossref_primary_10_1016_j_jfranklin_2013_09_010 crossref_primary_10_1109_JSYST_2018_2794418 crossref_primary_10_1002_asjc_3276 crossref_primary_10_1177_0959651814568365 crossref_primary_10_3390_su14074020 crossref_primary_10_1109_TIE_2015_2399400 crossref_primary_10_1007_s12555_011_0509_4 crossref_primary_10_1017_S0263574717000145 crossref_primary_10_1155_2013_123072 crossref_primary_10_1109_TCST_2015_2437328 crossref_primary_10_1177_0142331219872862 crossref_primary_10_1007_s42835_022_01235_8 crossref_primary_10_1016_j_jfranklin_2011_01_013 crossref_primary_10_1016_j_sysconle_2010_03_002 crossref_primary_10_1016_j_conengprac_2013_04_004 crossref_primary_10_1108_01439911111122770 crossref_primary_10_1088_2631_8695_ad3c12 crossref_primary_10_1016_j_ifacol_2016_03_136 crossref_primary_10_1016_j_jfranklin_2013_05_032 crossref_primary_10_1177_1729881416677694 crossref_primary_10_1007_s11071_019_05267_0 crossref_primary_10_1016_j_sysconle_2024_105865 crossref_primary_10_1016_j_fss_2020_12_017 crossref_primary_10_1002_rnc_4473 crossref_primary_10_1109_TIE_2017_2777411 crossref_primary_10_1049_iet_cta_2017_0351 crossref_primary_10_1002_rnc_3766 crossref_primary_10_1016_j_ifacol_2023_10_204 crossref_primary_10_1080_08839514_2011_606767 crossref_primary_10_1007_s11071_019_04953_3 crossref_primary_10_1016_j_neucom_2015_06_066 crossref_primary_10_1109_TCYB_2018_2817610 crossref_primary_10_1049_iet_csr_2020_0020 crossref_primary_10_1002_rnc_5030 crossref_primary_10_1109_TIE_2014_2345348 crossref_primary_10_1109_TIE_2015_2504042 crossref_primary_10_2514_1_G005925 crossref_primary_10_1049_cth2_12506 crossref_primary_10_1109_TCYB_2019_2960104 crossref_primary_10_1109_TCYB_2020_3026215 crossref_primary_10_1109_TCYB_2023_3257133 crossref_primary_10_1007_s10846_018_0886_5 crossref_primary_10_1016_j_isatra_2024_11_031 crossref_primary_10_1177_0142331215603791 crossref_primary_10_1002_rnc_3250 crossref_primary_10_1155_2017_5318504 crossref_primary_10_1080_00207179_2015_1065544 crossref_primary_10_1109_TAES_2021_3117368 crossref_primary_10_1002_rnc_4406 crossref_primary_10_1016_j_arcontrol_2020_02_001 crossref_primary_10_1016_j_conengprac_2024_106047 crossref_primary_10_1016_j_fss_2013_10_010 crossref_primary_10_1080_00207179_2014_903563 crossref_primary_10_1177_0954410017716477 crossref_primary_10_1109_TCNS_2018_2813927 crossref_primary_10_1109_TCYB_2022_3225361 crossref_primary_10_1049_iet_its_2011_0125 crossref_primary_10_1109_TIE_2009_2026378 crossref_primary_10_1109_TIE_2010_2051394 crossref_primary_10_1007_s11633_021_1299_7 crossref_primary_10_1016_j_neucom_2020_10_094 crossref_primary_10_1016_j_robot_2009_07_004 crossref_primary_10_1115_1_4006622 crossref_primary_10_1155_2022_1850090 crossref_primary_10_1177_09544100211063669 crossref_primary_10_1016_j_amc_2020_125829 crossref_primary_10_1016_j_engappai_2025_110666 crossref_primary_10_1080_00207179_2018_1441554 crossref_primary_10_1109_TAC_2018_2799491 crossref_primary_10_1049_iet_cta_2014_1301 crossref_primary_10_1109_TIE_2009_2017096 crossref_primary_10_1007_s11633_016_1004_4 crossref_primary_10_1080_00207179_2019_1661522 crossref_primary_10_1109_TII_2015_2435692 crossref_primary_10_1049_iet_cta_2016_0094 crossref_primary_10_3233_JIFS_169187 crossref_primary_10_1016_j_neucom_2022_04_048 crossref_primary_10_1109_TCST_2013_2259168 crossref_primary_10_1016_j_oceaneng_2020_108048 crossref_primary_10_1109_TMECH_2017_2675280 crossref_primary_10_1109_TRO_2022_3233346 crossref_primary_10_1016_j_isatra_2013_12_010 crossref_primary_10_1155_2013_681319 crossref_primary_10_1049_iet_cta_2013_0843 crossref_primary_10_1017_S0263574720001241 crossref_primary_10_1177_0142331219835004 crossref_primary_10_1016_j_jfranklin_2023_12_055 crossref_primary_10_1109_TIE_2011_2146211 crossref_primary_10_1109_TRO_2017_2776304 crossref_primary_10_1109_ACCESS_2017_2652984 crossref_primary_10_1002_acs_3188 crossref_primary_10_1007_s11424_018_7299_1 crossref_primary_10_1007_s10514_014_9395_y crossref_primary_10_1016_j_proeng_2013_09_224 crossref_primary_10_1109_TMECH_2020_2990991 crossref_primary_10_3233_JIFS_190531 crossref_primary_10_1109_TIE_2014_2317133 crossref_primary_10_1155_2014_673415 crossref_primary_10_5370_KIEE_2011_60_11_2152 crossref_primary_10_1016_j_ins_2022_09_059 crossref_primary_10_1016_j_jpdc_2013_05_009 crossref_primary_10_1080_00207721_2016_1165896 crossref_primary_10_1109_TASE_2015_2403261 crossref_primary_10_1002_asjc_1731 crossref_primary_10_1002_rnc_7942 crossref_primary_10_1007_s11071_025_10872_3 crossref_primary_10_1017_S0263574724000559 crossref_primary_10_1016_j_sysconle_2025_106119 crossref_primary_10_1049_iet_cta_2018_6127 crossref_primary_10_1007_s12591_017_0377_3 crossref_primary_10_1016_j_automatica_2018_08_003 crossref_primary_10_1109_TCSI_2013_2265978 crossref_primary_10_1109_TASE_2025_3566367 crossref_primary_10_1016_j_jfranklin_2016_04_002 crossref_primary_10_1016_j_ejcon_2017_09_001 crossref_primary_10_1177_0142331218780226 crossref_primary_10_1080_00207179_2024_2325459 crossref_primary_10_1016_j_eswa_2021_114589 crossref_primary_10_3390_app9204315 crossref_primary_10_1080_00207721_2021_1910877 crossref_primary_10_3390_app7111170 crossref_primary_10_7746_jkros_2017_12_3_339 crossref_primary_10_1007_s00521_021_06342_7 crossref_primary_10_1109_TCST_2012_2218815 crossref_primary_10_3390_app11219830 crossref_primary_10_1016_j_robot_2010_10_004 crossref_primary_10_1016_j_isatra_2016_01_005 crossref_primary_10_1080_01969722_2020_1758462 crossref_primary_10_1016_j_jfranklin_2019_07_011 crossref_primary_10_1007_s12555_013_0021_0 crossref_primary_10_1007_s10846_012_9795_1 crossref_primary_10_1109_TIE_2013_2273480 crossref_primary_10_3390_app8071045 crossref_primary_10_1109_TITS_2019_2905039 crossref_primary_10_1007_s10846_014_0131_9 crossref_primary_10_1007_s10846_017_0557_y crossref_primary_10_1109_TIE_2009_2014675
Cites_doi	10.1109/70.976023 10.1177/0278364907084441 10.1007/978-1-84628-615-5 10.1109/IROS.2005.1545161 10.1109/TRA.2003.819598 10.1109/TRA.2002.803463 10.1109/ROBOT.2007.363679 10.1109/ACC.2006.1656417 10.1109/ISIC.2003.1254675 10.1109/CDC.2005.1582227 10.1109/TIE.2004.837848 10.1109/41.184818 10.1109/70.736776 10.1109/MRA.2004.1371604 10.1109/CDC.1996.577594 10.1016/S0005-1098(97)00209-4 10.1002/(SICI)1099-1239(199704)7:4<299::AID-RNC279>3.3.CO;2-V 10.3233/ICA-2006-13307 10.1109/87.960341 10.1109/TRA.2002.804500 10.1016/S0967-0661(01)00109-5
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2008 Distributed under a Creative Commons Attribution 4.0 International License
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2008 – notice: Distributed under a Creative Commons Attribution 4.0 International License
DBID	97E RIA RIE AAYXX CITATION 7SP 8FD L7M F28 FR3 1XC VOOES
DOI	10.1109/TIE.2008.2002717
DatabaseName	IEEE Xplore (IEEE) IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Electronics & Communications Abstracts Technology Research Database Advanced Technologies Database with Aerospace ANTE: Abstracts in New Technology & Engineering Engineering Research Database Hyper Article en Ligne (HAL) Hyper Article en Ligne (HAL) (Open Access)
DatabaseTitle	CrossRef Technology Research Database Advanced Technologies Database with Aerospace Electronics & Communications Abstracts Engineering Research Database ANTE: Abstracts in New Technology & Engineering
DatabaseTitleList	Engineering Research Database Engineering Research Database Engineering Research Database
Database_xml	– sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering Computer Science
EISSN	1557-9948
EndPage	3953
ExternalDocumentID	oai:HAL:inria-00424437v1 2325695901 10_1109_TIE_2008_2002717 4601469
Genre	orig-research
GroupedDBID	-~X .DC 0R~ 29I 4.4 5GY 5VS 6IK 97E 9M8 AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACGFS ACIWK ACKIV ACNCT AENEX AETIX AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ASUFR ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD HZ~ H~9 IBMZZ ICLAB IFIPE IFJZH IPLJI JAVBF LAI M43 MS~ O9- OCL P2P RIA RIE RNS TAE TN5 TWZ VH1 VJK AAYXX CITATION 7SP 8FD L7M RIG F28 FR3 1XC VOOES
ID	FETCH-LOGICAL-c529t-ccdd94894633b39cbbac3cc690e14bbec755c4c049b98c580f34273eace16f9c3
IEDL.DBID	RIE
ISICitedReferencesCount	264
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000260866600017&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	0278-0046
IngestDate	Tue Oct 14 20:43:19 EDT 2025 Sun Sep 28 09:08:46 EDT 2025 Wed Oct 01 14:54:04 EDT 2025 Sun Sep 28 11:44:27 EDT 2025 Mon Jun 30 10:15:19 EDT 2025 Sat Nov 29 03:59:58 EST 2025 Tue Nov 18 22:43:34 EST 2025 Tue Aug 26 16:47:24 EDT 2025
IsDoiOpenAccess	true
IsOpenAccess	true
IsPeerReviewed	true
IsScholarly	true
Issue	11
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html Distributed under a Creative Commons Attribution 4.0 International License: http://creativecommons.org/licenses/by/4.0
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c529t-ccdd94894633b39cbbac3cc690e14bbec755c4c049b98c580f34273eace16f9c3
Notes	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 14 content type line 23
ORCID	0009-0008-1996-1617 0000-0002-1741-2381 0000-0001-6346-0774 0000-0001-5323-4896
OpenAccessLink	https://inria.hal.science/inria-00424437
PQID	862817308
PQPubID	23500
PageCount	10
ParticipantIDs	hal_primary_oai_HAL_inria_00424437v1 proquest_journals_862817308 crossref_primary_10_1109_TIE_2008_2002717 proquest_miscellaneous_903648539 proquest_miscellaneous_875032809 proquest_miscellaneous_34460351 crossref_citationtrail_10_1109_TIE_2008_2002717 ieee_primary_4601469
PublicationCentury	2000
PublicationDate	2008-11-01
PublicationDateYYYYMMDD	2008-11-01
PublicationDate_xml	– month: 11 year: 2008 text: 2008-11-01 day: 01
PublicationDecade	2000
PublicationPlace	New York
PublicationPlace_xml	– name: New York
PublicationTitle	IEEE transactions on industrial electronics (1982)
PublicationTitleAbbrev	TIE
PublicationYear	2008
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) – name: Institute of Electrical and Electronics Engineers
References	ref13 ref24 ref12 ref15 ref14 ref11 ref22 ref10 ref21 fridman (ref20) 2002 ref2 ref1 defoort (ref18) 2007 ref16 vidal (ref9) 2004; 11 isidori (ref23) 1995 ref8 ref7 emel'yanov (ref19) 1986; 31 ref4 ref3 ref6 ref5 defoort (ref17) 2006; 13
References_xml	– ident: ref1 doi: 10.1109/70.976023 – start-page: 2150 year: 2007 ident: ref18 article-title: decentralized robust control for multi-vehicle navigation publication-title: Proc Eur Control Conf – ident: ref7 doi: 10.1177/0278364907084441 – year: 1995 ident: ref23 publication-title: Nonlinear Control Systems doi: 10.1007/978-1-84628-615-5 – volume: 31 start-page: 291 year: 1986 ident: ref19 article-title: higher order sliding modes in the binary control systems publication-title: Sov Phys Dokl – ident: ref11 doi: 10.1109/IROS.2005.1545161 – ident: ref4 doi: 10.1109/TRA.2003.819598 – ident: ref6 doi: 10.1109/TRA.2002.803463 – ident: ref10 doi: 10.1109/ROBOT.2007.363679 – ident: ref14 doi: 10.1109/ACC.2006.1656417 – start-page: 53 year: 2002 ident: ref20 publication-title: Control Eng – ident: ref12 doi: 10.1109/ISIC.2003.1254675 – ident: ref13 doi: 10.1109/CDC.2005.1582227 – ident: ref8 doi: 10.1109/TIE.2004.837848 – ident: ref22 doi: 10.1109/41.184818 – ident: ref3 doi: 10.1109/70.736776 – volume: 11 start-page: 14 year: 2004 ident: ref9 article-title: following the flock publication-title: IEEE Robot Autom Mag doi: 10.1109/MRA.2004.1371604 – ident: ref15 doi: 10.1109/CDC.1996.577594 – ident: ref21 doi: 10.1016/S0005-1098(97)00209-4 – ident: ref24 doi: 10.1002/(SICI)1099-1239(199704)7:4<299::AID-RNC279>3.3.CO;2-V – volume: 13 start-page: 277 year: 2006 ident: ref17 article-title: integral sliding mode control for trajectory tracking of a unicycle type mobile robot publication-title: Integr Comput -Aided Eng doi: 10.3233/ICA-2006-13307 – ident: ref5 doi: 10.1109/87.960341 – ident: ref2 doi: 10.1109/TRA.2002.804500 – ident: ref16 doi: 10.1016/S0967-0661(01)00109-5
SSID	ssj0014515
Score	2.4520192
Snippet	This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to...
SourceID	hal proquest crossref ieee
SourceType	Open Access Repository Aggregation Database Enrichment Source Index Database Publisher
StartPage	3944
SubjectTerms	Asymptotic properties Automatic Control Engineering Autonomous Computer Science Controllers Formation control Mobile robots Motion control Motion estimation Motion measurement nonholonomic mobile robots Remotely operated vehicles Robot control Robots robust control second-order sliding mode Sliding mode control Stabilization State estimation Strategy Vehicles Velocity control Velocity measurement Vision systems
Title	Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots
URI	https://ieeexplore.ieee.org/document/4601469 https://www.proquest.com/docview/862817308 https://www.proquest.com/docview/34460351 https://www.proquest.com/docview/875032809 https://www.proquest.com/docview/903648539 https://inria.hal.science/inria-00424437
Volume	55
WOSCitedRecordID	wos000260866600017&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1557-9948 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0014515 issn: 0278-0046 databaseCode: RIE dateStart: 19820101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3fT9swED5RtAf2AGxsIvzY_MALEqFJ7NT2Y1W1YxJDExSJtyh2XFEJJYim_P3cOWlAgk7am6VcJMtfbN_lu_sO4CQiwbsi4aFJeBGKgRNhrvOIchoKLWOHTp3vWnIpr67U3Z3-uwFnXS2Mc84nn7lzGnouv6jskn6V9cWApE50D3pSyqZWq2MMRNp0K0hIMRaDvhUlGen-9Pe4SZqkhATpW5O9XkG9e0qA9J1V3h3H_o6Z7Pzf7HZhu_Ul2bAB_wtsuPIrfH6jMLgHv24e5nQ7hdTzjE1WlYps1GSoM3RZcVw9ukYAnA2XNVU5VMsF-1MZPDHYdWWqevENbifj6egibHsnhDZNdB1aWxRaKC0GnBuurTG55dZiLOxiYRA4maZWWITKaGVTFc24QE8Gj2EXD2ba8u-wWVal2wdmcgxRZsYoR_JqVCibOvQiuZJ8FimXB9BfLWdmW2Fx6m_xkPkAI9IZAtC0u2wBCOC0e-OxEdX4h-0JItSZkRr2xfAym5e4PzNP3Aoun-MA9giRzq4FI4DDFaRZuzkXGQZxKsaTTQXws3uKu4qokrx0uMQZxyiZONYA2BoLRQRwoiK93kQTx4vukD74eHKHsOWzT3xl4xFs1k9Ldwyf7HM9Xzz98J_3C3ii9gs
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3fa9swED7abLD1Yb_aUbfbqoe-FObFtuRYegylWcrSULoU-iYsWaGBYJfGyd_fO9nxBlsHexP4DEKfJd35u_sO4DQiwbsi4aFJeBGKgRNhrvKIchoKlcUOnTrftWSSTafy7k5d78DXrhbGOeeTz9w3Gnouv6jsmn6V9cWApE7ULrxIhUjiplqr4wxE2vQrSEgzFsO-LSkZqf7s8qJJm6SUhMw3J_t1Ce3eUwqk763yx4Hsb5nR2_-b3zt403qTbNjA_x52XPkB9n7TGNyH7z-XC7qfQup6xkbbWkV23uSoM3RacVw9uEYCnA3XNdU5VOsVu6oMnhnspjJVvTqA29HF7Hwctt0TQpsmqg6tLQolpBIDzg1X1pjccmsxGnaxMAhdlqZWWATLKGlTGc25QF8GD2IXD-bK8o_QK6vSHQIzOQYpc2OkI4E1KpVNHfqRXGZ8HkmXB9DfLqe2rbQ4dbhYah9iREojAE3DyxaAAM66Nx4aWY1_2J4iQp0Z6WGPhxO9KHGHak_dCp5t4gD2CZHOrgUjgOMtpLrdniuNYZyM8WyTAZx0T3FfEVmSlw6XWHOMk4llDYA9YyGJAk5kpJ43UcTyokOkjv4-uRN4NZ5dTfTkcvrjGF77XBRf5_gJevXj2n2Gl3ZTL1aPX_yn_gRluvlS
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Sliding-Mode+Formation+Control+for+Cooperative+Autonomous+Mobile+Robots&rft.jtitle=IEEE+transactions+on+industrial+electronics+%281982%29&rft.au=Defoort%2C+Michael&rft.au=Floquet%2C+Thierry&rft.au=K%C3%B6k%C3%B6sy%2C+Annemarie&rft.au=Perruquetti%2C+Wilfrid&rft.date=2008-11-01&rft.pub=Institute+of+Electrical+and+Electronics+Engineers&rft.issn=0278-0046&rft.volume=55&rft.issue=11&rft.spage=3944&rft.epage=3953&rft_id=info:doi/10.1109%2FTIE.2008.2002717&rft.externalDBID=HAS_PDF_LINK&rft.externalDocID=oai%3AHAL%3Ainria-00424437v1
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0278-0046&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0278-0046&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0278-0046&client=summon