@Inbook{Jim1999,
author="Jim A. Ledin",
title= "Hardware-in-the-Loop Simulation",
bookTitle="Embedded Systems Programming",
year=1999, 
month="February",
page="42"
}

@Articel{Irwanto2018,
author="Herma Yudhi Irwanto ",
title="Development of Mobile Ground Control System and GPS Base Auto Tracking Antenna",
journal="Jurnal Teknologi Dirgantara",
volume="16",
number="1",
year=2018,
month="Juni"
}
@article{QUESADA2019275,
title = "Open-source low-cost Hardware-in-the-loop simulation platform for testing control strategies for artificial pancreas research",
journal = "IFAC-PapersOnLine",
volume = "52",
number = "1",
pages = "275 - 280",
year = "2019",
note = "12th IFAC Symposium on Dynamics and Control of Process Systems, including Biosystems DYCOPS 2019",
issn = "2405-8963",
doi = "https://doi.org/10.1016/j.ifacol.2019.06.074",
url = "http://www.sciencedirect.com/science/article/pii/S2405896319301594",
author = "Luisa Fernanda Quesada and José David Rojas and Orlando Arrieta and Ramon Vilanova",
keywords = "Controlled system, insulin control, Hardware in the loop, PID control, Optimal control",
abstract = "Artificial pancreas control is an important research area in the biomedical field. However, it is dangerous to test new control algorithms on humans in order to improve the performance of the control system. This paper presents the results of using an open-source low-cost hardware in the loop platform to test different control strategies for artificial pancreas research. An Arduino platform was selected as the main device to implement the real time differential equations solver needed for the HIL simulation. The platform was successfully tested with both a PID controller and an LQR controller. The code and schematics of the platform are available upon request."
}
@Article{Hacene2019,
author="Hacene, Nacer
and Mendil, Boubekeur",
title="Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot",
journal="International Journal of Automation and Computing",
year="2019",
month=Apr,
day="01",
volume="16",
number="2",
pages="163--185",
abstract="In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot (TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors ``Track the Target'' and ``Avoid Obstacles and Wall Following'' are considered based on reduced rule bases (six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.",
issn="1751-8520",
doi="10.1007/s11633-018-1135-x",
url="https://doi.org/10.1007/s11633-018-1135-x"
}

@Inbook{Fabien2009,
author="Fabien, Brian",
title="Numerical Solution of ODEs and DAEs",
bookTitle="Analytical System Dynamics: Modeling and Simulation",
year="2009",
publisher="Springer US",
address="Boston, MA",
pages="1--59",
isbn="978-0-387-85605-6",
doi="10.1007/978-0-387-85605-6_5",
url="https://doi.org/10.1007/978-0-387-85605-6_5"
}



@article{CORREIA20127,
title = "Modeling of a Three Wheeled Omnidirectional Robot Including Friction Models",
journal = "IFAC Proceedings Volumes",
volume = "45",
number = "22",
pages = "7 - 12",
year = "2012",
note = "10th IFAC Symposium on Robot Control",
issn = "1474-6670",
doi = "https://doi.org/10.3182/20120905-3-HR-2030.00002",
url = "http://www.sciencedirect.com/science/article/pii/S1474667016335807",
author = "Mariane Dourado Correia and André Gustavo and Scolari Conceição",
keywords = "Models, Friction, Parameter estimation, Autonomous mobile robots",
abstract = "This paper presents a model of a three-wheeled omnidirectional robot including a static friction model. Besides the modeling is presented a practical approach in order to estimate the coefficients of coulomb and viscous friction, which used sensory information about force and velocity of the robot's center of mass. The proposed model model has the voltages of the motors as inputs and the linear and angular velocities of the robot as outputs. Actual results and simulation with the estimated model are compared to demonstrate the performance of the proposed modeling."
}


@INPROCEEDINGS{Khaledyan2018,
author={M. {Khaledyan} and M. {de Queiroz}},
booktitle={2018 Annual American Control Conference (ACC)},
title={Translational Maneuvering Control of Nonholonomic Kinematic Formations: Theory and Experiments},
year={2018},
volume={},
number={},
pages={2910-2915},
keywords={control system synthesis;mobile robots;motion control;multi-robot systems;path planning;position control;robot dynamics;robot kinematics;translational maneuvering control;nonholonomic kinematic formations;distance-based formation maneuvering problem;control law;kinematic level;rigidity properties;sensing/control interactions;simple input transformation;control design;nonholonomic model;single-integrator equation;formation maneuvers;multiple nonholonomic unicycle-type robots;time-varying translational velocity;Robot kinematics;Atmospheric modeling;Trajectory;Kinematics;Mobile robots;Robot sensing systems},
doi={10.23919/ACC.2018.8431562},
ISSN={2378-5861},
month={June},}

@INPROCEEDINGS{Rozenheck2015,
author={O. {Rozenheck} and S. {Zhao} and D. {Zelazo}},
booktitle={2015 European Control Conference (ECC)},
title={A proportional-integral controller for distance-based formation tracking},
year={2015},
volume={},
number={},
pages={1693-1698},
keywords={gradient methods;multi-agent systems;PI control;velocity control;proportional-integral controller;distance-based formation tracking;multiagent formation control problem;additional velocity reference command;interagent distance constraints;gradient formation controller;formation error dynamics;steady-state formation error;Stability analysis;Steady-state;Symmetric matrices;Aerodynamics;Jacobian matrices;Numerical stability;Asymptotic stability},
doi={10.1109/ECC.2015.7330781},
ISSN={},
month={July},}

@book{Richard2010,
author = {Dorf, Richard and Bishop, Robert},
year = {2010},
month = {07},
pages = {},
title = {Modern Control Systems, 12th Edition},
isbn = {ISBN-10: 0136024580; ISBN-13: 978-0136024583}
}

@book{astrom2008feedback,
  title={Feedback Systems: An Introduction for Scientists and Engineers},
  author={Astr{\"o}m, K.J. and Murray, R.M.},
  isbn={9780691135762},
  url={http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Version_2.11b},
  year={2008},
  publisher={Princeton University Press}
}


@article{Parker2003,
author = {Parker, Lynne},
year = {2003},
month = {03},
pages = {1-5},
title = {Current research in multirobot systems},
volume = {7},
journal = {Artificial Life and Robotics},
doi = {10.1007/BF02480877}
}
@inproceedings{Guanghua2013,
author = {Guanghua, Wang and Deyi, Li and Wenyan, Gan and Peng, Jia},
year = {2013},
month = {01},
pages = {1335-1339},
title = {Study on Formation Control of Multi-Robot Systems},
isbn = {978-1-4673-4893-5},
doi = {10.1109/ISDEA.2012.316}
}
@INPROCEEDINGS{YQC2005,
author={Yang Quan Chen and Zhongmin Wang},
booktitle={2005 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Formation control: a review and a new consideration},
year={2005},
volume={},
number={},
pages={3181-3186},
keywords={mobile robots;remotely operated vehicles;multi-robot systems;position control;motion control;distributed parameter systems;unmanned autonomous vehicle formation;unmanned autonomous robot formation;distributed parameter systems;formation regulation control;formation tracking control;pattern formation;Robot kinematics;Mobile robots;Control systems;Remotely operated vehicles;Robot sensing systems;Robot control;Intelligent robots;Distributed parameter systems;Road vehicles;Intelligent systems;Formation control;stability analysis;graph theory;Lyapunov analysis;distributed parameter system;pattern formation;formation regulation control;formation tracking control;morphological pattern formation tracking control;adaptive mesh},
doi={10.1109/IROS.2005.1545539},
ISSN={2153-0858},
month={Aug},}


@article{OH2015424,
title = "A survey of multi-agent formation control",
journal = "Automatica",
volume = "53",
pages = "424 - 440",
year = "2015",
issn = "0005-1098",
doi = "https://doi.org/10.1016/j.automatica.2014.10.022",
url = "http://www.sciencedirect.com/science/article/pii/S0005109814004038",
author = "Kwang-Kyo Oh and Myoung-Chul Park and Hyo-Sung Ahn",
keywords = "Formation control, Position-based control, Displacement-based control, Distance-based control",
abstract = "We present a survey of formation control of multi-agent systems. Focusing on the sensing capability and the interaction topology of agents, we categorize the existing results into position-, displacement-, and distance-based control. We then summarize problem formulations, discuss distinctions, and review recent results of the formation control schemes. Further we review some other results that do not fit into the categorization."}

@INPROCEEDINGS{Cao2007,
author={M. {Cao} and A. S. {Morse} and C. {Yu} and B. D. O. {Anderson} and S. {Dasguvta}},
booktitle={2007 46th IEEE Conference on Decision and Control},
title={Controlling a triangular formation of mobile autonomous agents},
year={2007},
volume={},
number={},
pages={3603-3608},
abstract={This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively- oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t rarr infin. These findings complement and extend earlier findings cited below.},
keywords={distributed control;mobile robots;multi-robot systems;spatial variables control;triangular formation;mobile autonomous agents;collinear formations;distributed control law;Autonomous agents;USA Councils;Distributed control;H infinity control;Differential equations;Information technology;Art;Australia Council},
doi={10.1109/CDC.2007.4434757},
ISSN={0191-2216},
month={Dec},}

@article{Oh2014,
author = {Oh, Kwang-Kyo and Ahn, Hyo-Sung},
title = {Distance-based undirected formations of single-integrator and double-integrator modeled agents in n-dimensional space},
journal = {International Journal of Robust and Nonlinear Control},

volume = {24},
number = {12},
pages = {1809-1820},
keywords = {formation control, distance-based control, graph rigidity, Hamiltonian systems, gradient systems},
doi = {10.1002/rnc.2967},
url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.2967},
eprint = {https://onlinelibrary.wiley.com/doi/pdf/10.1002/rnc.2967},
abstract = {SUMMARYWe study the local asymptotic stability of undirected formations of single-integrator and double-integrator modeled agents based on interagent distance control. First, we show that n-dimensional undirected formations of single-integrator modeled agents are locally asymptotically stable under a gradient control law. The stability analysis in this paper reveals that the local asymptotic stability does not require the infinitesimal rigidity of the formations. Second, on the basis of the topological equivalence of a dissipative Hamiltonian system and a gradient system, we show that the local asymptotic stability of undirected formations of double-integrator modeled agents in n-dimensional space is achieved under a gradient-like control law. Simulation results support the validity of the stability analysis. Copyright © 2013 John Wiley \& Sons, Ltd.},
year = {2014}
}

