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|Title:||Navigation of multiple kinematically constrained robots||Authors:||Kyriakopoulos, Kostas J.
|Issue Date:||2008||Publisher:||IEEE||Source:||IEEE Transactions on Robotics, 2008, Volume 24, Issue 1, Pages 221-231||Abstract:||In this paper, we propose a methodology for implementing multirobot navigation-function-based controllers to mixed teams of holonomic and nonholonomic agents. A new nonsmooth backstepping controller is introduced for translating kinematic controllers to equivalent dynamic ones, while maintaining bounded velocity specifications. The derived backstepping controller is applied to a dynamic model of the mobile robots, yielding a globally asymptotically stable dynamic controller. The effectiveness of the methodology is verified through nontrivial computer simulations.||URI:||http://ktisis.cut.ac.cy/handle/10488/7821||ISSN:||15523098||DOI:||10.1109/TRO.2007.912092||Rights:||© 2008 IEEE|
|Appears in Collections:||Άρθρα/Articles|
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