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This paper studies a general class of formations of unicycle robots. One of the robots plays the role of the leader and the formation is induced through a constraint function F that depends on the position and the orientation of the vehicles. We investigate the flexibility of such formations with respect to the leader's reference frame by introducing the notion of formation internal dynamics, we characterize...
The paper deals with a general class of leader-follower formations of unicycle robots induced by a constraint function that depends on the position and the orientation of the vehicles. We study the flexibility of such formations by introducing the notion of formation internal dynamics, characterize its equilibria and give sufficient geometric conditions for their existence. In particular, we show...
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