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|Title:||Navigation of multiple input constraint micro-robotic agents||Authors:||Kyriakopoulos, Kostas J.
|Keywords:||Microrobots;Multiagent systems;Computer simulation;Robots--Kinematics||Issue Date:||2005||Publisher:||IEEE||Source:||IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2005, Pages 1670-1675||Abstract:||In this paper we consider the problem of navigating a team of input constraint robotic agents. The main motivation comes from the field of micro-robotics, where several input sets are more favorable than others, in the sense of incurring a lower relative actuation error. A switching controller that actuates the system in those favored input regions is derived based on Multirobot Navigation Functions. The system is shown to posses theoretically guaranteed global convergence and collision avoidance properties. Non-trivial computer simulations show the effectiveness of the methodology||URI:||http://ktisis.cut.ac.cy/handle/10488/7799||ISBN:||0780389123||DOI:||10.1109/IROS.2005.1545218||Rights:||© 2005 IEEE||Type:||Book Chapter|
|Appears in Collections:||Κεφάλαια βιβλίων/Book chapters|
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