Distributed Kinematic Motion Control of Multi-Robot Coordination Subject to Physical Constraints

@article{Kim2010DistributedKM,
  title={Distributed Kinematic Motion Control of Multi-Robot Coordination Subject to Physical Constraints},
  author={Youngshik Kim and Mark A. Minor},
  journal={I. J. Robotics Res.},
  year={2010},
  volume={29},
  pages={92-109}
}
This paper presents a kinematic motion control strategy for an n-axle Compliant Framed Modular wheeled Mobile Robot (CFMMR). This robot is essentially a passive-joint active-wheel snake robot where coordinated motion of the robot modules is critical for maximizing mobility and minimizing traction forces. A distributed master–slave kinematic motion control structure is proposed where the front axle module of the robot is the master and subsequent axle modules are slaves. An existing path… CONTINUE READING

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