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Title: Multirobot navigation functions I
Authors: Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Robots--Kinematics;Feedback control systems;Navigation
Issue Date: 2006
Publisher: Springer
Source: Stochastic Hybrid Systems: theory and Safety Critical Applications, 2006, Pages 171-207
Abstract: This is the first of two chapters dealing with multirobot navigation. In this chapter a centralized methodology is presented for navigating a team of multiple robotic agents. The solution is a closed form feedback based navigation scheme. The considered robot kinematics include holonomic and non-holonomic constraints and are handled under the unifying framework of multirobot navigation functions. The derived methodology has theoretically guaranteed global convergence and collision avoidance properties. The feasibility of the proposed navigation scheme is verified through non-trivial computer simulations.
ISBN: 978-3-540-33466-8
DOI: 10.1007/11587392_6
Rights: © Springer-Verlag Berlin Heidelberg 2006
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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