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This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and maneuvers, are given as building blocks for generating coordinated motions. In a motion-primitive based planning framework, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturbations...
This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated, the group behaves like one mechanical system with symmetry, and we focus on stabilizing a family of coordinated motions, called relative...
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