In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajecto- ries described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
Tracking of Closed-Curve Trajectories for Multi-Robot Systems / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare; D., de Macedo Possamai. - ELETTRONICO. - (2010), pp. 6089-6095. (Intervento presentato al convegno 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 tenutosi a Taipei, twn nel 18-22 Oct. 2010) [10.1109/IROS.2010.5650375].
Tracking of Closed-Curve Trajectories for Multi-Robot Systems
SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare;
2010
Abstract
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajecto- ries described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris
