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dc.contributor.authorGhabcheloo, R.
dc.contributor.authorPascoal, A.
dc.contributor.authorSilvestre, C.
dc.contributor.authorKaminer, I.
dc.date2005
dc.date.accessioned2016-10-17T16:10:58Z
dc.date.available2016-10-17T16:10:58Z
dc.date.issued2005
dc.identifier.citationINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Int. J. Adapt. Control Signal Process. 2005; 00:1–2 Prepared using acsauth.cls [Version: 2002/11/11 v1.00]en_US
dc.identifier.urihttp://hdl.handle.net/10945/50332
dc.description.abstractThe paper presents a solution to the problem of steering a group of wheeled robots along given spatial paths, while holding a desired inter-vehicle formation pattern. This problem arises for example when multiple robots are required to search a given area in cooperation. The solution proposed addresses explicitly the dynamics of the cooperating robots and the constraints imposed by the topology of the inter-vehicle communications network. Lyapunov-based techniques and graph theory are brought together to yield a decentralized control structure where the information exchanged among the robots is kept at a minimum. With the set-up proposed, path following (in space) and inter-vehicle coordination (in time) are essentially decoupled. Path following for each vehicle amounts to reducing a conveniently defined error variable to zero. Vehicle coordination is achieved by adjusting the speed of each of the vehicles along its path according to information on the positions and speeds of a subset of the other vehicles, as determined by the communications topology adopted. Simulations illustrate the efficacy of the solution proposed.en_US
dc.description.sponsorshipPortuguese FCT POSI programme under framework QCA IIIen_US
dc.description.sponsorshipproject MAYA-Sub of the AdIen_US
dc.format.extent25 p.en_US
dc.publisherJohn Wiley & Sons, Ltd.en_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleNonlinear Coordinated Path Following Control of Multiple Wheeled Robots with Bidirectional Communication Constraintsen_US
dc.typeArticleen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)en_US
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)en_US
dc.subject.authorCoordinated Motion Controlen_US
dc.subject.authorGraph Theoryen_US
dc.subject.authorPath followingen_US
dc.subject.authorWheeled Robotsen_US
dc.description.funderPortuguese FCT POSI programme under framework QCA IIIen_US
dc.description.funderproject MAYA-Sub of the AdIen_US


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