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Title: Navigation of multiple input constraint micro-robotic agents
Authors: Kyriakopoulos, Kostas J.
Loizou, Savvas 
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
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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