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dc.contributor.authorDoosthoseini, Alireza
dc.contributor.authorNielsen, Christopher 13:35:28 (GMT) 13:35:28 (GMT)
dc.descriptionThe final publication is available at Elsevier via © 2015. This manuscript version is made available under the CC-BY-NC-ND 4.0 license
dc.description.abstractWe formulate a coordinated path following problem for N unicycle mobile robots as an instance of a nested set stabilization problem. Stabilization of the first set corresponds to driving the unicycles to their assigned paths. Stabilization of the second set, a subset of the first, corresponds to meeting the coordination specification. The first set is stabilized in a decentralized manner using feedback linearization. For arbitrary coordination tasks we utilize feedback linearization to stabilize the nested set in a centralized manner. In the special case in which coordination entails making the unicycles maintain a formation along their paths, we propose semi-distributed control law under less restrictive communication assumptions. Experimental results are provided.en
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.subjectcoordinated path following problemen
dc.subjectmulti-agent path following manifolden
dc.subjectlocal coordination seten
dc.titleCoordinated path following of unicycles : A nested invariant sets approachen
dcterms.bibliographicCitationDoosthoseini, A., & Nielsen, C. (2015). Coordinated path following for unicycles: A nested invariant sets approach. Automatica, 60, 17–29.
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Electrical and Computer Engineeringen

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