Modeling and control of formations of nonholonomic mobile robots

@article{Desai2001ModelingAC,
  title={Modeling and control of formations of nonholonomic mobile robots},
  author={J. P. Desai and J. Ostrowski and Vijay R. Kumar},
  journal={IEEE Trans. Robotics Autom.},
  year={2001},
  volume={17},
  pages={905-908}
}
This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory. We model the team as a triple, (g, r, H), consisting of a group element g that describes the gross position of the lead robot, a set of shape variables r that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our… Expand

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