Dynamic model based formation control and obstacle avoidance of multi-robot systems

  title={Dynamic model based formation control and obstacle avoidance of multi-robot systems},
  author={Celso De La Cruz and Ricardo O. Carelli},
This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multirobot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by… CONTINUE READING
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An Experience on Stable Control of Mobile Robots

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2 Excerpts

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