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— This paper studies bifurcations and multiple solutions of the optimal control problem for mobile robotic systems. While the existence of multiple local solutions to an optimization problem is not unexpected, the nature of the solutions are such that a relatively rich and interesting structure is present, which potentially could be exploited for controls… (More)

— This paper presents the relatively rich and interesting bifurcation structure that is present in the nature of optimal solutions to a multi-robot formation control problem. The problem considered is a two point nonlinear boundary-value problem that can only be solved numerically. Since common numerical solution techniques such as the shooting method are… (More)

by Baoyang Deng In this thesis, we consider the motion planning problem for a symmetric distributed system which consists of a group of autonomous mobile robots operating in a two-dimensional obstacle-free environment. Each robot has a predefined initial state and final state and the problem is to find the optimal path between two states for every robot.… (More)

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