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We consider a pool of mobile vehicles with unicycle-like kinematics. During the motion and on the basis of the state variables a function defines if there is the need of coordinating the motion of a set of vehicles. When a group of mobile robots establish the need of coordination, they form a “team”. The birth of a team is an event. A sequence of intermediate targets is then assigned to each vehicle,...
The paper addresses autonomous motion control (path-following in particular) of an articulated-frame-steering (AFS) hydraulically actuated mobile machine. We first propose a kinematic model of the vehicle, together with a simple model for steering hydraulic actuator. The kinematic model is derived under simplifying assumptions that there are no slipping and no skidding. The accuracy of the model is...
The kinematics and dynamics relations of a non-holonomic four wheeled mobile inverted pendulum (FWMIP) are developed to investigate various control schemes for keeping the inverted pendulum in balance. The kinematics relations are developed in homogeneous coordinates. The symbolic equation of motion of the FWMIP is derived in terms of platform and rod dimensions for a list of assumptions simplifying...
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