dc.contributor.author | Doosthoseini, Alireza | |
dc.contributor.author | Nielsen, Christopher | |
dc.date.accessioned | 2021-09-30 13:35:28 (GMT) | |
dc.date.available | 2021-09-30 13:35:28 (GMT) | |
dc.date.issued | 2015 | |
dc.identifier.uri | https://doi.org/10.1016/j.automatica.2015.06.033 | |
dc.identifier.uri | http://hdl.handle.net/10012/17596 | |
dc.description | The final publication is available at Elsevier via http://dx.doi.org/https://doi.org/10.1016/j.automatica.2015.06.033. © 2015. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/ | en |
dc.description.abstract | We 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.language.iso | en | en |
dc.publisher | Elsevier | en |
dc.relation.ispartofseries | Automatica; | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 International | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | coordinated path following problem | en |
dc.subject | multi-agent path following manifold | en |
dc.subject | local coordination set | en |
dc.title | Coordinated path following of unicycles : A nested invariant sets approach | en |
dc.type | Article | en |
dcterms.bibliographicCitation | Doosthoseini, A., & Nielsen, C. (2015). Coordinated path following for unicycles: A nested invariant sets approach. Automatica, 60, 17–29. https://doi.org/10.1016/j.automatica.2015.06.033 | en |
uws.contributor.affiliation1 | Faculty of Engineering | en |
uws.contributor.affiliation2 | Electrical and Computer Engineering | en |
uws.typeOfResource | Text | en |
uws.peerReviewStatus | Reviewed | en |
uws.scholarLevel | Faculty | en |