TY - JOUR
T1 - Navigation of multiple kinematically constrained robots
AU - Loizou, Savvas G.
AU - Kyriakopoulos, Konstantinos J.
N1 - Funding Information:
Manuscript received October 16, 2006, revised May 9, 2007. This paper was recommended by Associate Editor L. Withcomb and Editor L. Parker upon evaluation of the reviewers’ comments. This work was supported in part by the European Commission under Contract IST-2001-33567-MICRON: Miniaturized Co-Operative Robots Advancing Towards the Nano range and Contract IST-FET-507006-ISWARM: Intelligent Small World Autonomous Robots for Micro-Manipulation. This paper was presented in part at the IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 2002 and at the IEEE International Conference on Robotics and Automation, 2003.
PY - 2008/2
Y1 - 2008/2
N2 - 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.
AB - 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.
KW - Bounded input
KW - Multirobot navigation
KW - Nonholonomic systems
KW - Nonsmooth backstepping
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U2 - 10.1109/TRO.2007.912092
DO - 10.1109/TRO.2007.912092
M3 - Article
AN - SCOPUS:40949142399
SN - 1552-3098
VL - 24
SP - 221
EP - 231
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 1
ER -