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We propose a method for collision-free motion coordination of a group of unicycle agents. Under constraints on control signals, this method guarantees asymptotic tracking of the reference trajectories of all individual agents. The motion coordination is established by mutual coupling of coordinates of the interacting agents. For stronger couplings, the robustness of motion coordination to perturbations...
In this paper, the formation control problem for unicycle mobile robots is studied. A virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness with respect to perturbations as compared to typical leader-follower approaches. The applicability of the proposed...
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