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This paper investigates cooperative control problems in formation of mobile robots under the nonholonomic constraints. A new method of motion control for formation is presented, which is based on piecewise smooth dynamic framework. It is attractive for its adaptability to the formation structure and desired trajectory. The quality of formation keeping can be evaluated by the instantaneous errors of...
This paper is concerned with cooperative control problems in formation of mobile robot under the nonholonomic constraints, which means certain geometrical constraints are imposed on multiple mobile robots throughout their travel. For this purpose, a new method of motion control for formations is presented, which is based on the piecewise smooth dynamic formation framework. In addition, the quality...
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