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The coordinated path following problem, steering a fleet of unicycles along a path while achieving a desired inter-vehicle formation, is investigated. The path is a paved road in the world or a marked curve on the floor of work area, for which each vehicle can measure the distance to the path and the heading error as well as the curvature of the path segment in its sensing range. Moreover, the vehicles...
The paper proposes a novel approach based on hybrid control and reachability specification for cooperative target tracking with multiple unicycle-type robots. Robots are steered to get closer to the target when they are far and then switch to coordinate their motion in order to cooperatively capture the target by eventually moving on a circle around the target with equal angular distance between each...
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