Navigation of multiple kinematically constrained robots

Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:28:50Z
dc.date.available	2014-03-01T01:28:50Z
dc.date.issued	2008	en
dc.identifier.issn	1552-3098	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18989
dc.subject	Bounded input	en
dc.subject	Multirobot navigation	en
dc.subject	Nonholonomic systems	en
dc.subject	Nonsmooth backstepping	en
dc.subject.classification	Robotics	en
dc.subject.other	Asymptotic stability	en
dc.subject.other	Computer simulation	en
dc.subject.other	Dynamic models	en
dc.subject.other	Kinematics	en
dc.subject.other	Mobile robots	en
dc.subject.other	Motion control	en
dc.subject.other	Navigation	en
dc.subject.other	Backstepping controller	en
dc.subject.other	Bounded input	en
dc.subject.other	Multirobot navigation	en
dc.subject.other	Nonholonomic systems	en
dc.subject.other	Nonsmooth backstepping	en
dc.subject.other	Robotics	en
dc.title	Navigation of multiple kinematically constrained robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TRO.2007.912092	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TRO.2007.912092	en
heal.language	English	en
heal.publicationDate	2008	en
heal.abstract	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. © 2008 IEEE.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Transactions on Robotics	en
dc.identifier.doi	10.1109/TRO.2007.912092	en
dc.identifier.isi	ISI:000253789900023	en
dc.identifier.volume	24	en
dc.identifier.issue	1	en
dc.identifier.spage	221	en
dc.identifier.epage	231	en