TY - GEN
T1 - Closed loop navigation for multiple micro robots
AU - Lionis, Grigoris
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2007 EUCA.
PY - 2007
Y1 - 2007
N2 - Micro robotic agents are more difficult to control than 'macro' robots as they suffer from a number of inherit limitations. In this work we apply a previous result on decentralized navigation to the case of micro robots. The micro-robots we are interested in, move like unicycles with bounded turning radius. To control these micro-robots, we use a multi-level control strategy. In the upper level the agents are thought as omnidirectional. The middle layer maps these movements into the motion of a unicycle, and finally the lower level drive controls the micro-agent. We present simulations to demonstrate the validity of this approach.
AB - Micro robotic agents are more difficult to control than 'macro' robots as they suffer from a number of inherit limitations. In this work we apply a previous result on decentralized navigation to the case of micro robots. The micro-robots we are interested in, move like unicycles with bounded turning radius. To control these micro-robots, we use a multi-level control strategy. In the upper level the agents are thought as omnidirectional. The middle layer maps these movements into the motion of a unicycle, and finally the lower level drive controls the micro-agent. We present simulations to demonstrate the validity of this approach.
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U2 - 10.23919/ecc.2007.7068860
DO - 10.23919/ecc.2007.7068860
M3 - Conference contribution
AN - SCOPUS:84927750259
T3 - 2007 European Control Conference, ECC 2007
SP - 1471
EP - 1476
BT - 2007 European Control Conference, ECC 2007
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2007 9th European Control Conference, ECC 2007
Y2 - 2 July 2007 through 5 July 2007
ER -