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This paper proposes a new mobile robot formation control based on a multi-potential approach. The proposed method provides a pure reactive local mechanism that allows multiple robots to fit into formation pattern. Robots can deal with partially unknown scenarios and different formation patterns. The work is aimed to non-holonomic vehicles, constrains in speed and turn radius are considered.
In this paper, a position sensing system for magnet based autonomous vehicle using 1-dimensional magnetic field sensor array was described. In advanced vehicle control, position sensing is an important task for the identification of their locations, such as the lateral position within a trajectory. The magnet based autonomous vehicle was identified position using magnetic materials. In the magnetic...
This paper proposes a novel discrete trajectory tracking controller for a class of nonholonomic vehicles. Using existing velocity control laws based on the kinematic model and backstepping technology, the proposed discrete controller can accommodate not only traditionally continuous trajectories but also trajectories involving discontinuity points, while retaining the stability proved by Lyapunov...
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