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In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement a speed adaption loop which based on a discontinuous signal product of a sliding surface in the state space, modifies the speed of reference for a robot. The strength of this approach is that we solve, under certain conditions, the...
This work presents a reactive geometric invariance method for the coordination of multi-robot systems. Some of the constraints representing the coordination of the multi-robot system are defined in terms of robot sensors that are not affected by the robot kinematics error, e.g., due to miscalibrations or lack of repeatability, in order to obtain accurate enough measurements, other constraints are...
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