Automatica (Journal of IFAC)
Coordination of multiple non-holonomic agents with input constraints
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Cooperative robot team navigation strategies based on an environment model
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Distributed event-triggered control strategies for multi-agent systems
Allerton'09 Proceedings of the 47th annual Allerton conference on Communication, control, and computing
Collaborative path planning for event search and exploration in mixed sensor networks
International Journal of Robotics Research
Exponential fields formulation for WMR navigation
Applied Bionics and Biomechanics - Personal Care Robotics
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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.