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https://hdl.handle.net/20.500.14279/1503| Title: | Navigation of multiple kinematically constrained robots | Authors: | Kyriakopoulos, Kostas J. Loizou, Savvas |
Major Field of Science: | Engineering and Technology | Field Category: | Mechanical Engineering | Keywords: | Computer simulation;Mobile robots;Robots--Kinematics;Navigation | Issue Date: | Feb-2008 | Source: | IEEE Transactions on Robotics, 2008, vol. 24, iss. 1, pp. 221-231 | Volume: | 24 | Issue: | 1 | Start page: | 221 | End page: | 231 | Journal: | IEEE Transactions on Robotics | Abstract: | In 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. | URI: | https://hdl.handle.net/20.500.14279/1503 | ISSN: | 19410468 | DOI: | 10.1109/TRO.2007.912092 | Rights: | © IEEE | Type: | Article | Affiliation : | National Technical University Of Athens |
| Appears in Collections: | Άρθρα/Articles |
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