Control for teams of kinematic unicycle-like and skid-steering mobile robots with restricted inputs: Analysis and applications

Amit Ailon, Aleksandar Cosic, Ilan Zohar, Aleksandar Rodic

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

In the so-called intelligent spaces it could be more effective to use multiple simpler and cheaper mobile robots instead of one complex and expensive robot. In this regard the present study develops some basic control tools for managing a team of robots in various practical tasks. In particular this study presents simple controllers for achieving trajectory tracking for a single robot and for teams of kinematic unicycle-like and skid-steering mobile robots. The control approach is based on the concepts of virtual robot and virtual team. The underlying stabilizing controllers are applied to specific situations in team control and ensures effective task accomplishment under physical constraints. In particular we are developing control strategies for establishing a convoy formation of a group of vehicles with restricted inputs. The performance of the proposed controllers are demonstrated by means of numerical and simulation results.

Original languageEnglish
Title of host publicationIEEE 15th International Conference on Advanced Robotics
Subtitle of host publicationNew Boundaries for Robotics, ICAR 2011
Pages371-376
Number of pages6
DOIs
StatePublished - 28 Dec 2011
EventIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 - Tallinn, Estonia
Duration: 20 Jun 201123 Jun 2011

Publication series

NameIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

Conference

ConferenceIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Country/TerritoryEstonia
CityTallinn
Period20/06/1123/06/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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