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Distributed formation control of nonholonomic mobile robots without global position measurements

✍ Scribed by Liu, Tengfei; Jiang, Zhong-Ping


Book ID
120544171
Publisher
Elsevier Science
Year
2013
Tongue
English
Weight
865 KB
Volume
49
Category
Article
ISSN
0005-1098

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The paper deals with leader-follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots' control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible pos