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We consider the distributed control of a network of heterogeneous agents with double integrator dynamics to maintain a rigid formation in 1D. The control signal at a vehicle is allowed to use relative position and velocity with its immediate neighbors. We examine the effect of heterogeneity and asymmetry on the closed loop stability margin, which is measured by the real part of the least stable eigenvalue...
To build autonomous robots capable to plan and control tasks in human environments, we need a description of trajectories that allows the robot to reason on his moves. In this paper we propose to use series of cubic polynomial curves to define the trajectories with bounded jerk, acceleration and velocity. This solution is well adapted to plan safe and acceptable moves of the robot in the vicinity...
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