Please use this identifier to cite or link to this item: https://ktisis.cut.ac.cy/handle/10488/7821
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dc.contributor.authorKyriakopoulos, Kostas J.-
dc.contributor.authorLoizou, Savvas-
dc.date.accessioned2013-03-11T13:25:02Zen
dc.date.accessioned2013-05-17T05:22:44Z-
dc.date.accessioned2015-12-02T10:06:58Z-
dc.date.available2013-03-11T13:25:02Zen
dc.date.available2013-05-17T05:22:44Z-
dc.date.available2015-12-02T10:06:58Z-
dc.date.issued2008-02-
dc.identifier.citationIEEE Transactions on Robotics, 2008, vol. 24, iss. 1, pp. 221-231en_US
dc.identifier.issn1941-0468-
dc.description.abstractIn 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.en_US
dc.formatpdfen_US
dc.language.isoenen_US
dc.publisherIEEEen
dc.relation.ispartofIEEE Transactions on Roboticsen_US
dc.rights© IEEEen_US
dc.subjectComputer simulationen_US
dc.subjectMobile robotsen_US
dc.subjectRobots--Kinematicsen_US
dc.subjectNavigationen_US
dc.titleNavigation of multiple kinematically constrained robotsen_US
dc.typeArticleen_US
dc.affiliationNational Technical University Of Athensen
dc.collaborationNational Technical University Of Athensen_US
dc.subject.categoryMechanical Engineeringen_US
dc.journalsSubscriptionen_US
dc.countryGreeceen_US
dc.subject.fieldEngineering and Technologyen_US
dc.publicationPeer Revieweden_US
dc.identifier.doi10.1109/TRO.2007.912092en_US
dc.dept.handle123456789/54en
dc.relation.issue1en_US
dc.relation.volume24en_US
cut.common.academicyear2007-2008en_US
dc.identifier.spage221en_US
dc.identifier.epage231en_US
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_6501-
item.fulltextNo Fulltext-
item.languageiso639-1en-
item.openairetypearticle-
item.cerifentitytypePublications-
crisitem.author.deptDepartment of Mechanical Engineering and Materials Science and Engineering-
crisitem.author.facultyFaculty of Engineering and Technology-
crisitem.author.orcid0000-0003-4083-9946-
crisitem.author.parentorgFaculty of Engineering and Technology-
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