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This paper proposes a novel formation control strategy for multiple nonholonomic mobile robots based on dynamic feedback linearization and supervisory control of discrete event systems. The proposed leader-follower formation strategy requires that all the robots navigate in an unstructured environment avoiding obstacles and following walls. In addition, the followers are also required to keep a predetermined...
This paper addresses the coupled navigation and control problem for fully actuated dynamical systems operating in cluttered environments. The proposed method composes local feedback control policies to address the global problem in a formally correct manner. Our contribution extends the method of sequential composition to a new class of flow-through policies, which are defined for an idealized point...
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