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.en
dc.contributor.authorLoizou, Savvas-
dc.contributor.otherΛοΐζου, Σάββας-
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.issued2008en
dc.identifier.citationIEEE Transactions on Robotics, 2008, Volume 24, Issue 1, Pages 221-231en
dc.identifier.issn15523098en
dc.identifier.urihttp://ktisis.cut.ac.cy/handle/10488/7821en
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
dc.formatpdfen
dc.language.isoenen
dc.publisherIEEEen
dc.rights© 2008 IEEEen
dc.subjectComputer simulationen
dc.subjectMobile robotsen
dc.subjectRobots--Kinematicsen
dc.subjectNavigationen
dc.titleNavigation of multiple kinematically constrained robotsen
dc.typeArticleen
dc.affiliationNational Technical University Of Athensen
dc.identifier.doi10.1109/TRO.2007.912092en
dc.dept.handle123456789/54en
item.grantfulltextnone-
item.fulltextNo Fulltext-
item.languageiso639-1other-
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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