A Decentralized Approach To Elementary Formation ManeuversJonathan
نویسندگان
چکیده
This paper presents the coupled dynamics approach to executing Elementary Formation Maneuvers (EFM) for Hilare-type mobile robots. The concept of an EFM is presented. It is then shown that each of these EFMs possesses a common mathematical structure and thus may be executed by the same type of robot control. We present three diierent EFM controls in this paper. The rst puts feedback on the relative motion and the global motion of each robot. The second control adds inter-robot damping. And the third control uses saturated inputs on the relative motion and the global motion of each robot. We present simulation and hardware results for each of these controls.
منابع مشابه
A Decentralized Approach to Elementary Formation Maneuvers
This paper presents the coupled dynamics approach to executing Elementary Formation Maneuvers (EFM) for Hilare-type mobile robots. The concept of an EFM is presented. It is then shown that each of these EFMs posses a common mathematical structure and thus may be executed by the same type of robot control. We present three di erent EFM controls in this paper. The rst puts feedback on the relativ...
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