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Motion coordination of autonomous vehicles has applications from target surveillance to climate monitoring. Previous research has yielded stabilizing control laws for a self-propelled-vehicle model with first-order rotational dynamics; however, this model may not adequately describe the rotational dynamics of vehicles in the atmosphere or ocean. This paper describes the design of backstepping algorithms...
This paper addresses the problem of designing distributed feedback laws to fore the outputs of mobile robots to follow geometric paths while holding a desired formation pattern. The solution to formation problem, unfolds in two basic parts. Firstly, a path following control law based on Lyapunov and backstepping is designed out to drive each robot to its desired path regardless of the temporal speed...
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