Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Solution to a door crossing problem for an autonomous wheelchair
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Cluster space collision avoidance for mobile two-robot systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Evolving hardware using a new evolutionary algorithm based on evolution of a species
International Journal of Bio-Inspired Computation
Attractor dynamics approach to formation control: theory and application
Autonomous Robots
Adaptive dynamic path following control of an unicycle-like mobile robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
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This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a formation control. The controller can be applied both to positioning and to tracking desired robot formations. The formation control can be centralized or decentralized and scalable to any number of robots. A strategy for rigid formation obstacle avoidance is also proposed. Experimental results validate the control system design.