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This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, and proposes an approach based on methods related to switched systems and set invariance. A family of Lyapunov-like functions is employed to encode the (local) decision making among candidate goal assignments, under which the agents pick the...
This paper presents a novel method on the motion and path planning for unicycle robots in environments with static circular obstacles. The method employs a family of 2-dimensional analytic vector fields, which have singular points of high-order type and whose integral curves exhibit various patterns depending on the value of a parameter λ. More specifically, for a known value of λ the vector field...
Vision-based formation control of multiple agents, such as mobile robots or fully autonomous cars, has recently received great interest due to its application in robotic networks and automated highways. This paper addresses the cooperative motion coordination of leader–follower formations of nonholonomic mobile robots, under visibility and communication constraints in known polygonal obstacle environments...
This paper addresses the problem of controlling a leader-follower (L - F) formation of two unicycle mobile robots moving under visibility constraints in a known obstacle environment. Visibility constraints are realized as inequality state constraints that determine a visibility set K. Maintaining visibility is translated into controlling the robots so that system trajectories starting in K always...
This paper addresses the control design for a class of nonholonomic systems which are subject to inequality state constraints defining a constrained (viability) set K. Based on concepts from viability theory, the necessary conditions for selecting viable controls for a nonholonomic system are given. Furthermore, a class of nonholonomic control solutions are redesigned by means of switching control,...
This paper presents a control design methodology for n-dimensional nonholonomic systems. The main idea is that, given a nonholonomic system subject to κ Pfaffian constraints, one can define a smooth, N-dimensional reference vector field F, which is nonsingular everywhere except for a submanifold containing the origin. The dimension N ≤ n of F depends on the structure of the constraint equations, which...
This paper introduces a framework that guides the design of stabilizing feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional vector fields, the dipole-like vector fields is proposed, inspired by the form of the flow lines of the electric point dipole. A general connection between the dipole-like field and the Pfaffian constraints of catastatic nonholonomic systems...
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