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Modeling And Control Of Formations Of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, R. Vijay Kumar
Modeling And Control Of Formations Of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, R. Vijay Kumar
R. Vijay Kumar
This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.We model the team as a triple, (g, r, H), consisting of a group element g that describes the gross position of the lead robot, a set of shape variables r that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between …
Control Of Mechanical Systems With Rolling Constraints: Application To Dynamic Control Of Mobile Robots, Nilanjan Sarkar, Xiaoping Yun, R. Vijay Kumar
Control Of Mechanical Systems With Rolling Constraints: Application To Dynamic Control Of Mobile Robots, Nilanjan Sarkar, Xiaoping Yun, R. Vijay Kumar
R. Vijay Kumar
There are many examples of mechanical systems which require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this paper, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system and show that it is not input-state linearizable. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: …