Nonlinear coordinated path following control of multiple wheeled robots with communication constraints

@article{Ghabcheloo2005NonlinearCP,
  title={Nonlinear coordinated path following control of multiple wheeled robots with communication constraints},
  author={Reza Ghabcheloo and Ant{\'o}nio Manuel Santos Pascoal and Carlos Silvestre},
  journal={ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.},
  year={2005},
  pages={657-664}
}
The paper addresses the problem of steering a fleet of wheeled robots along a set of given spatial paths, while keeping a desired intervehicle formation pattern. This problem arises for example when multiple vehicles are required to scan a given area in cooperation. In a possible mission scenario, one of the vehicles acts a leader and follows a path accurately, while the other vehicles follow paths that are naturally determined by the formation pattern imposed. The solution adopted for… CONTINUE READING
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