NDLI: General dynamic formations for non-holonomic systems along planar curvilinear coordinates

Content Provider	IEEE Xplore Digital Library
Author	Krontiris, A. Louis, S. Bekris, K.E.
Copyright Year	2011
Description	Author affiliation: Computer Science and Engineering Department of the University of Nevada, Reno, 1664 N. Virginia St., MS 171, 89557, USA (Krontiris, A.; Louis, S.; Bekris, K.E.)
Abstract	This paper describes a general geometric method for planar formations of non-holonomic systems. The approach directly provides the feasible controls that each individual robot has to execute in order for the team to maintain the formation based on the controls of a reference agent, either a real leader-robot or a virtual one. In order to directly satisfy the non-holonomic constraints, the geometric reasoning takes place in curvilinear coordinates, defined by the curvature of the reference trajectory, instead of the typical rectilinear coordinates. The generality of the approach lies on the ability to define dynamic formations so as to smoothly switch between static ones, where the robots can change both of their relative coordinates as they move, and the ability to acquire a desired formation given an initial random configuration. Furthermore, it is possible to correct errors in the achieved configuration of the vehicles on the fly. Simulated experiments are presented to verify the correctness of the provided derivations.
Starting Page	4903
Ending Page	4908
File Size	715370
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980450
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Trajectory Lead Vehicles Switches Interpolation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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