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Coordinated path following of unicycles : A nested invariant sets approach

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Date

2015

Authors

Doosthoseini, Alireza
Nielsen, Christopher

Advisor

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Volume Title

Publisher

Elsevier

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.

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/

Keywords

coordinated path following problem, multi-agent path following manifold, local coordination set

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