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The cluster space state representation for multirobot systems provides a simple means of specifying and monitoring the geometry and motion characteristics of a cluster of mobile robots. In previous work, this approach has been experimentally verified and validated for controlling the motion of planar mobile multi-robot systems ranging from land rovers to autonomous boats. In this paper we present...
Autonomous Underwater Vehicle (AUV) are moving to a new phase with the development of light intervention systems. New vehicles will be equipped with lightweight manipulators and operate around subsea infrastructures. One of the key capabilities to safely perform such mission is robust and accurate autonomous localisation, i.e. the ability for the AUV to estimate correctly its position and orientation...
This paper addresses a problem of sweep coverage by a network of self-deployed autonomous vehicles. We propose a decentralized motion coordination algorithm for the vehicles to accomplish the deployment objective of sweep coverage. The control algorithm is developed theoretically using the ideas of nearest neighbor rules, and its effectiveness is illustrated via numerical simulations.
Navigation of a car-like robot in environments with unknowns requires effective on-line planning of nonholonomic trajectories. We propose a set of basic maneuver patterns based on Bezier curves that allow either forward or backward motion as building blocks to create nonholonomic trajectories quickly, given a sequence of knot positions/points (e.g., from some GPS navigator). These maneuver patterns...
Swedish wheeled robots have received growing attention over the last few years. Their kinematic models have interesting properties in terms of mobility and possible singularities. This paper addresses the issue of kinematic modeling, singularity analysis, and motion control for a generic vehicle equipped with N Swedish wheels.
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