Navigation of multiple kinematically constrained robots

Savvas G. Loizou, Konstantinos J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


In this paper, we propose a methodology for implementing multirobot navigation-function-based controllers to mixed teams of holonomic and nonholonomic agents. A new nonsmooth backstepping controller is introduced for translating kinematic controllers to equivalent dynamic ones, while maintaining bounded velocity specifications. The derived backstepping controller is applied to a dynamic model of the mobile robots, yielding a globally asymptotically stable dynamic controller. The effectiveness of the methodology is verified through nontrivial computer simulations.

Original languageEnglish (US)
Pages (from-to)221-231
Number of pages11
JournalIEEE Transactions on Robotics
Issue number1
StatePublished - Feb 2008


  • Bounded input
  • Multirobot navigation
  • Nonholonomic systems
  • Nonsmooth backstepping

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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